A. GENERAL INFORMATION · 1996/09-1996/12 Junior Engineer (Co-op) BC Hydro ... Mechanical Engineering for the paper: ... 1999-Present Institute of Electrical and Electronics Engineers

Curriculum Vitae: S. B. Nokleby, PhD, PEng

A. GENERAL INFORMATION

1. SCOTT B. NOKLEBY, PhD, PEng Faculty of Engineering and Applied Science University of Ontario Institute of Technology 2000 Simcoe Street North Oshawa, ON L1H 7K4 CANADA Phone: 1.905.721.8668 ext. 5491 Fax: 1.905.721.3370 Email: [email protected] Web: http://faculty.uoit.ca/nokleby/ http://mars.engineering.uoit.ca/

2. DEGREES

PhD (Mechanical Engineering), Department of Mechanical Engineering, University of Victoria, 2003 Dissertation: “Identification and Utilization of Loss of Motion Capabilities of Robotic Manipulators”

Supervisor: Ron P. Podhorodeski

MASc (Mechanical Engineering), Department of Mechanical Engineering, University of Victoria, 1999

Thesis: “Optimization-Based Mechanism Synthesis” Supervisor: Ron P. Podhorodeski

BEng (Mechanical Engineering with Co-op Program and Management Option), Department of Mechanical Engineering, University of Victoria, 1997

3. EMPLOYMENT HISTORY

University of Ontario Institute of Technology (UOIT) Faculty of Engineering and Applied Science 2004-Present

2009/07-Present Associate Professor (Tenured) 2010/05-2011/08 Visiting Professor Cameco Corporation (Sabbatical) 2009/05-2009/06 Visiting Professor Cameco Corporation 2004/06-2009/06 Assistant Professor University of Victoria

Robotics and Mechanisms Laboratory 1998-2004 2003/05-2004/05 Research Associate 1998/01-2003/04 Research Assistant

University of Victoria Department of Mechanical Engineering 1998-2003

2001/09-2003/04 Teaching Assistant 1998/01-2001/04 Teaching Assistant

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http://faculty.uoit.ca/nokleby/

http://mars.engineering.uoit.ca/


University of Victoria Department of Electrical and Computer Engineering 2000-2002

2002/05-2002/08 Sessional Instructor 2001/01-2001/08 Teaching Assistant 2000/01-2000/04 Teaching Assistant

MacMillan Bloedel Limited MB Research – Paper and Packaging Division 1997

1997/05-1997/12 Research Engineer (Co-op)

Dart Aerospace Limited Engineering Department 1996

1996/09-1996/12 Junior Engineer (Co-op) BC Hydro

Transmission Design Department 1996 1996/01-1996/04 Junior Engineer (Co-op)

Natural Resources Canada CANMET : Western Research Centre 1994 1

1994/10-1994/12 Research Assistant (Co-op)

4. HONOURS

2016 Fellow of the Canadian Society for Mechanical Engineering

2014 Winner of the CSME Best Paper in Transactions of the Canadian Society for 2

Mechanical Engineering for the paper: Ginzburg, S. and Nokleby, S. B., 2013, “Indoor Localization of an Omni-Directional Wheeled Mobile Robot,” Transactions of the Canadian Society for Mechanical Engineering, Vol. 37, No. 4, pp. 1043-1056.

2010-Present Adjunct Professor, Department of Mechanical Engineering, University of New Brunswick

2008 UOIT Research Excellence Award – Junior Researcher Category 3

2008 Selected Best Year One Professor by the UOIT Engineering Student Society

2007 CSME I. W. Smith Award for Outstanding Achievement in Creative Mechanical Engineering within 10 Years of Graduation

2006 UOIT Faculty of Engineering and Applied Science Award for Teaching Excellence

2005-2009 Honorary Research Associate, Department of Mechanical Engineering, University of New Brunswick

2005-2008 Adjunct Assistant Professor, Department of Mechanical Engineering, University of Victoria

2002-2003 University of Victoria David F. Strong Research Scholarship

CANMET – Canada Centre for Mineral and Energy Technology1

CSME – Canadian Society for Mechanical Engineering (http://www.csme-scgm.ca/) 2

The Junior Researcher Category is now called the Early Stage Researcher Category3

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http://www.csme-scgm.ca/


2002-2003 University of Victoria Charles S. Humphrey Graduate Student Award

2001-2003 NSERC Postgraduate Scholarship B (PGS-B) 4

2001 University of Victoria Graduate Student Award for Excellence in Teaching 2000-2002 Science Council of British Columbia Graduate Research Engineering and

Technology (GREAT) Scholarship

2000-2001 University of Victoria Charles S. Humphrey Graduate Student Award

1999-2003 University of Victoria President’s Research Scholarship

1999-2001 NSERC Postgraduate Scholarship A (PGS-A)

1999-2000 British Columbia Advanced Systems Institute Graduate Recruitment Assistance Program Scholarship Award

1999-2000 University of Victoria Howard E. Petch Research Scholarship

1997 NSERC Industrial Undergraduate Student Research Award

1992-1993 University of Victoria President’s Regional Entrance Scholarship

1992-1993 University of Victoria Faculty of Engineering Dean's Entrance Scholarship

5. PROFESSIONAL AFFILIATIONS AND ACTIVITIES

2004-Present Professional Engineers Ontario 2004-Present Professional Engineer

2003-Present Engineers Without Borders

2005-Present Member 2003-2005 Associate Member

1999-Present Institute of Electrical and Electronics Engineers

2004-Present Member 1999-2003 Student Member

1998-Present Association of Professional Engineers and Geoscientists of British Columbia

2003-Present Professional Engineer 1998-2003 Engineer-in-Training

1998-Present American Society of Mechanical Engineers

2002-Present Member 2006-2015 UOIT Faculty Student Advisor 1999-2002 Associate Member 1998-1999 Student Member

NSERC – Natural Sciences and Engineering Research Council of Canada (http://nserc.ca/) 4

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http://nserc.ca/


1998-Present Canadian Society for Mechanical Engineering 2016-Present Fellow 2005-2016 Member 2005-2015 UOIT Faculty Student Advisor 2000-2005 Associate Member 1998-2000 Student Member

1998-Present Canadian Committee for the Theory of Machines and Mechanisms

2011-Present Communications Officer 2003-Present Member 2006-2010 Financial Statements Auditor 1999-2003 Student Representative on the Executive Council 1998-2003 Student Member

2004-2015 Ontario Society of Professional Engineers 2004-2015 Professional Member 2006-2011 Member of the Political Action Network

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B. RESEARCH

6. RESEARCH ACTIVITIES

(i) CURRENT RESEARCH INTERESTS

Dr. Nokleby is the Director of the Mechatronic and Robotic Systems Laboratory, which he established in January 2005. Dr. Nokleby’s research areas include: Robotics; Mechatronics; Mechanisms; Automation; Advanced Kinematics of Robots and Mechanisms; Redundant Manipulator Systems; Mobile Robots; Mobile-Manipulator Systems; Autonomous Unmanned Aerial Vehicles; Mechanism and Robot Design; and Optimal Design. His particular focus is on the application of advanced kinematics for the control of redundant manipulator systems including joint redundant arms, redundantly-actuated parallel manipulators, and mobile-manipulator systems. Dr. Nokleby has attracted extensive funding for his research from both government and industry. His research group is involved in a number of industrial projects with Cameco Corporation through his past role as the Associate Cameco Research Chair in Nuclear Fuel at UOIT. Dr. Nokleby has over 90 refereed journal and conference publications. (ii) RESEARCH AWARDS

Project Title Funding AgencyAmount ($)/ % of Fund-

ing

Start Date

End Date Role

Aerial Manipulator System NSERC – Discovery Grant

$110,000 (100%)

2016 2021 PI

Automated Radiation Profiling and Shotcreting of Uranium Mine Drifts

NSERC – Collabora-tive Research and De-velopment Grant with Cameco Corporation

$200,000 (100%)

2015 2018 PI

Mining Systems, Automation, and Robotics

Ontario Online Initiative

$94,400 (50%)

2015 2016 Co-PI

Development of New CANDU Fuel Channel Inspection Tools for Increased Inspection Speed

NSERC – Collabora-tive Research and De-velopment Grant with UNENE, OPG, and Cameco Corporation

$360,000 (100%)

2012 2016 PI

Integrated Kinematic Control of Mobile Manipulators

NSERC – Discovery Grant

$100,000 (100%)

2011 2016 PI

Cameco Research Chair Cameco Corporation $50,000 (100%)

2013 2014 PI

Design and Development of En-hanced Conveying Technologies

FedDev Ontario – Applied Research and Commercialization Initiative

$93,600 (100%)

2010 2012 PI

Coordinated Control of Mobile Manipulators


$21,000 (100%)

2010 2011 PI

Development of a Novel Articu-lated Robot Arm

OCE – Collaborative Research Grant and NSERC – Collabora-tive Research and De-velopment Grant with BRIC Engineered Sys-tems

$310,000 (100%)

2007 2010 PI

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Legend: PI: Principal Investigator, CI: Co-Investigator

(iii) FUNDING APPLIED FOR

Legend: PI: Principal Investigator, CI: Co-Investigator

(iv) PATENTS

[P1] Nokleby, S. B., and Pop-Iliev, R., “Internally Supported Modular and Non-Modular Linked Structures,” US Patent Submission (filed May 27, 2009).

(iv) INVENTION DISCLOSURES

[D5] Nokleby, S. B., and Vanderlaan, J., August 2010, “Automated Pellet Inspector,” UOIT Invention Disclosure.

[D4] MacLeod, M., Nokleby, S. B., and Pop-Iliev, R., February 2009, “Composite-Based Robot Joint,” UOIT Invention Disclosure.

Cameco Research Chair In Nu-clear Fuel

Cameco Corporation $1,500,000 (30%)

2007 2012 CI

Thermo-Mechanical Design of Nuclear Based Hydrogen Produc-tion

MRI ORF – Research Excellence Funding

$5,518,831 (~5%)

2007 2011 CI - Group Leader

Travel Grant IFToMM – Young Delegates Program

300 € (100%)

2007 2007 PI

Inverse Displacement Solution for a Paint Removal Robot

BRIC Engineered Sys-tems Limited

$14,000 (100%)

2006 2007 PI

CDEN Design Module - Integrat-ed Design Projects

NSERC – CDEN $10,500 (50%)

2005 2006 Co-PI

Development of Kinematic Con-trol Algorithms for Redundant Robots


$101,000 (100%)

2005 2010 PI

Centre for Engineering Design, Automation, and Robotics

CFI – New Opportu-nities Grant

$174,209 (20%)

2005 2010 PI

Travel Grant IFToMM – Young Delegates Program

$800.00 USD (100%)

2004 2004 PI

Start-Up Grant UOIT $40,000 (100%)

2004 2006 PI

Trajectory Generator Simulink Block

International Subma-rine Engineering Lim-ited

$2,360.50 (100%)

2000 2000 PI

Identification of Singular Configu-rations for Joint Redundant Ma-nipulators of Kinematic Complexi-ty

International Subma-rine Engineering Lim-ited

$8,000 (50%)

1999 1999 CI

Project Title Funding AgencyAmount ($)/ % of Fund-

ingStart Date

End Date Role

Autonomous Wheelchair for Children (application in preparation)

NSERC – Engage Grant

TBD 2016 2016 PI

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[D3] Pop-Iliev, R., and Nokleby, S. B., October 2008, “Aero-Manipulator System,” UOIT Invention Disclosure.

[D2] Pop-Iliev, R., and Nokleby, S. B., March 2008, “Modular Constructed Internally Supported Composite Link Structures,” UOIT Invention Disclosure.

[D1] Nokleby, S. B., and Pop-Iliev, R., March 2008, “Internally Supported Composite Link Structures,” UOIT Invention Disclosure.

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C. SCHOLARLY AND PROFESSIONAL WORK

7. REFEREED PUBLICATIONS

(i) ARTICLES IN REFEREED JOURNALS

[J29] Niyongabo, K. T. and Nokleby, S. B., “Design and Implementation of an Automated Gamma Probe for Jet Boring Uranium Mining,” to appear in ASME Journal of Nuclear Engineering and Radiation Science.

[J28] Charabaruk, N. and Nokleby, S.B., 2015, “Design and Development of an Autonomous Omnidirectional Hazardous Materials Handling Robot,” to appear in Transactions of the Canadian Society for Mechanical Engineering.

[J27] Ginzburg, S. and Nokleby, S. B., 2013, “Indoor Localization of an Omni-Directional Wheeled Mobile Robot,” Transactions of the Canadian Society for Mechanical Engineering, Vol. 37, No. 4, pp. 1043-1056.

[J26] Frejek, M. and Nokleby, S. B., 2013, “A Methodology for Tele-Operating Mobile Manipulators with an Emphasis on Operator Ease of Use,” Robotica, Vol. 31, No. 3, pp. 331-344.

[J25] Alizadeh, D., Angeles, J., and Nokleby, S. B., 2013, “Optimum Design of a Spherical Quasi-Homokinetic Linkage for Motion Transmission Between Orthogonal Axes,” Mechanism and Machine Theory, Vol. 59, pp. 107-118.

[J24] Boudreau, R. and Nokleby, S. B., 2012, “Force Optimization of Kinematically-Redundant Planar Parallel Manipulators Following a Desired Trajectory,” Mechanism and Machine Theory, Vol. 56, pp. 138-155.

[J23] McDougall, R., Waller, E., and Nokleby, S., B., 2010, “A Strategy for Creating Probabilistic Radiation Maps in Areas Based on Sparse Data,” Transactions of the American Nuclear Society, Vol. 103, No. 1, pp. 655-656.

[J22] Ginzburg, S., von Frankenberg, F., and Nokleby, S. B., 2009, “Design and Implementation of an Indoor Localization System for the Omnibot Omni-Directional Platform,” Transactions of the Canadian Society for Mechanical Engineering, Vol. 33, No. 4, pp. 715-729.

[J21] Venus, G., Carretero, J. A., and Nokleby, S. B., 2009, “A New Method to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators,” Transactions of the ASME, Journal of Mechanisms and Robotics, Vol. 1, No. 3, pp. 031004-1 to 031004-8.

[J20] Bahadorani, P., Naterer, G. F., and Nokleby, S. B., 2009, “Optimization of Heat Exchangers for Geothermal District Heating,” Transactions of the Canadian Society for Mechanical Engineering, Vol. 33, No. 2, pp. 79-96.

[J19] Garg, V., Nokleby, S. B., and Carretero, J. A., 2009, “Wrench Capability Analysis of Redundantly-Actuated Spatial Parallel Manipulators,” Mechanism and Machine Theory, Vol. 44, No. 5, pp. 1070-1081.

[J18] Gauthier, J.-F., Angeles, J., Nokleby, S. B., and Morozov, A., 2009, “The Kinetostatic Conditioning of Two-Limb Schönflies Motion Generators,” Transactions of the ASME, Journal of Mechanisms and Robotics, Vol. 1, No. 1, pp. 011010-1 to 011010-12.

[J17] Firmani, F., Nokleby, S. B., Zibil, A., and Podhorodeski, R. P., 2008, “Wrench Capabilities of Planar Parallel Manipulators - Part II: Redundancy and Wrench Workspace Analysis,” Robotica, Vol. 26, No. 6, pp. 803-815.

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[J16] Firmani, F., Nokleby, S. B., Zibil, A., and Podhorodeski, R. P., 2008, “Wrench Capabilities of Planar Parallel Manipulators - Part I: Wrench Polytopes and Performance Indices,” Robotica, Vol. 26, No. 6, pp. 791-802.

[J15] Firmani, F., Zibil, A., Nokleby, S. B., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Revolute-Jointed Planar Parallel Manipulators with Additional Actuated Branches,” Transactions of the Canadian Society for Mechanical Engineering, Vol. 31, No. 4, pp. 469-481.

[J14] Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P., 2007, “An Explicit Method for Determining the Force Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators,” Transactions of the ASME, Journal of Mechanical Design, Vol. 129, No. 10, pp. 1046-1055.

[J13] Nokleby, S. B., 2007, “Singularity Analysis of the Canadarm2,” Mechanism and Machine Theory, Vol. 42, No. 4, pp. 442-454.

[J12] Nokleby, S. B., 2005, “Force-Moment Capabilities of Planar-Parallel Manipulators Using Different Redundant-Actuation Configurations,” Transactions of the Canadian Society for Mechanical Engineering, Vol. 29, No. 4, pp. 669-678.

[J11] Nokleby, S. B., Fisher, R., Podhorodeski, R. P., and Firmani, F., 2005, “Force Capabilities of Redundantly-Actuated Parallel Manipulators,” Mechanism and Machine Theory, Vol. 40, No. 5, pp. 578-599.

[J10] Fisher, R., Podhorodeski, R. P., and Nokleby, S. B., 2004, “Design of a Reconfigurable Planar Parallel Manipulator,” Journal of Robotic Systems, Vol. 21, No. 12, pp. 665-675.

[J9] Nokleby, S. B. and Podhorodeski, R. P., 2004, “Identifying the 1-DOF-Loss Velocity-Degenerate (Singular) Configurations of an 8-Joint Manipulator,” Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 109-124.

[J8] Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., 2004, “Quick-Return Mechanism Design and Analysis Projects,” International Journal of Mechanical Engineering Educa-tion, Vol. 32, No. 2, pp. 100-114.

[J7] Nokleby, S. B. and Podhorodeski, R. P., 2004, “Identifying Multi-DOF-Loss Velocity Degeneracies in Kinematically-Redundant Manipulators,” Mechanism and Machine Theo-ry, Vol. 39, No. 2, pp. 201-213.

[J6] Nokleby, S. B. and Podhorodeski, R. P., 2003, “Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity-Degenerate (Singular) Configurations,” Journal of Robotic Systems, Vol. 20, No. 5, pp. 239-249.

[J5] Nokleby, S. B. and Podhorodeski, R. P., 2001, “Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms,” Transactions of the ASME, Journal of Mechanical Design, Vol. 123, No. 4, pp. 529-534.

[J4] Nokleby, S. B. and Podhorodeski, R. P., 2001, “Reciprocity-Based Resolution of Velocity Degeneracies (Singularities) for Redundant Manipulators,” Mechanism and Machine The-ory, Vol. 36, No. 3, pp. 397-409.

[J3] Nokleby, S. B. and Podhorodeski, R. P., 2000, “Velocity Degeneracy Determination for the Kinematically Redundant CSA/ISE STEAR Testbed Manipulator,” Journal of Robotic Systems, Vol. 17, No. 11, pp. 633-642.

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[J2] Podhorodeski, R. P. and Nokleby, S. B., 2000, “Reconfigurable Main-Arm for Assembly of All Revolute-Only Kinematically Simple Branches,” Journal of Robotic Systems, Vol. 17, No. 7, pp. 365-373.

[J1] Nokleby, S. B. and Podhorodeski, R. P., 2000, “Optimization-Based Synthesis of a Deep-Digging Tillage Mechanism,” Transactions of the Canadian Society for Mechanical Engi-neering, Vol. 24, No. 1A, pp. 61-78.

(ii) ARTICLES IN REFEREED CONFERENCE PROCEEDINGS

[C65] Borg, B., Nokleby, S. B., Puccini, L., Mezil, A., Lau, B., Dobrescu, O., Idris, J., Chan, A., Cain, C., Long, K., Thaker, K., and Lam, K., “Design, Development, and Preliminary Testing of an Autonomous Amphibious Robot,” to appear in Proceedings of the 2016 CSME International Congress, June 26-29, Kelowna, Canada, 6 pages.

[C64] von Frankenberg, F. and Nokleby, S. B., 2016, “Development of the OmniCopter: A Highly Maneuverable Quad-Copter Platform for the Aerial Manipulator System,” to appear in Proceedings of the Fourth Joint International Conference on Multibody System Dynamics, May 29 - June 2, Montréal, Canada, 2 pages.

[C63] Gilbert, J., Manning, M., Nokleby, S. B., and Waller, E., 2015, “Preliminary Development and Modelling of a Next Generation Inspection System for CANDU Reactors,” in Proceedings of the 35th Annual Conference of the Canadian Nuclear Society, May 31 – June 3, Saint John, Canada, 12 pages.

[C62] Baltovski, T., Nokleby, S. B., and Pop-Iliev, R., 2015, “Towards Performing Remote Manipulation Using an Autonomous Aerial Vehicle,” in Proceedings of the 2015 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 28-29, Ottawa, Canada, 12 pages.

[C61] Charabaruk, N. and Nokleby, S. B., 2015, “Design and Development of an Autonomous Omnidirectional Hazardous Materials Handling Robot,” in Proceedings of the 2015 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 28-29, Ottawa, Canada, 11 pages.

[C60] Manning, M., Shukla, S., Nokleby, S. B., and Waller, E., 2014, “Design of an Inspection Robot Crawler for CANDU Fuel Channels,” in Proceedings of the 2014 CSME International Congress, June 1-4, Toronto, Canada, 4 pages.

[C59] Charabaruk, N. and Nokleby, S. B., 2014, “An Experimental Comparison Between Probabilistic Map-Based Navigation and Reactive Behaviour Based Navigation,” in Proceedings of the 2014 CSME International Congress, June 1-4, Toronto, Canada, 5 pages.

[C58] Charabaruk, N., Manning, M., and Nokleby, S. B., 2014, “Dynamic Robot Path Planning Using Improved Max-Min Ant Colony Optimization,” in Proceedings of the International Conference of Control, Dynamic Systems, and Robotics, May 15-16, Ottawa, Canada, 8 pages.

[C57] Baltovski, T., Nokleby, S. B., and Pop-Iliev, R., 2013, “Design and Development of an Swinging Arm Mechanism for an Aerial Manipulator System,” in Proceedings of the International Conference on Mechanical Engineering and Mechatronics, August 8-10, Toronto, Ontario, 7 pages.

[C56] Cove, T., Nokleby, S. B., and Pop-Iliev, R., 2013, “Development of an Indoor Localization System for an Unmanned Aerial Vehicle,” in Proceedings of the 2013 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 30-31, Montreal, Canada, 10 pages.

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[C55] McDougall, R., Nokleby, S. B., and Waller, E., 2013, “Experimental Testing of a Probabilistic-Based Radiation Mapping Robot,” in Proceedings of the 2013 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 30-31, Montreal, Canada, 7 pages.

[C54] von Frankenberg, F., McDougall, R., Nokleby, S. B., and Waller, E., 2012, “A Mobile Robotic Platform for Generating Radiation Maps,” in Proceedings of the 5th International Conference on Intelligent Robotics and Applications, October 3-5, Montreal, Canada, 10 pages.

[C53] Wrock, M. R. and Nokleby, S. B., 2012, “Virtual Fixtures and Automatic Mode Switching for Teleoperation Tasks,” in Proceedings of the ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 12-15, Chicago, USA, 7 pages.

[C52] Wrock, M. R. and Nokleby, S. B., 2011, “Command Strategies for Tele-Operation of Mobile-Manipulator Systems Via a Haptic Input Device,” in Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 28-31, Washington, USA, 8 pages.

[C51] Frejek, M. and Nokleby, S. B., 2011, “An Operator-Focused Algorithm for Tele-Operating Mobile Manipulators,” in Proceedings of the 13th World Congress in Mechanism and Machine Science, June 19-25, Guanajuato, Mexico, 8 pages.

[C50] Wrock, M. R. and Nokleby, S. B., 2011, “Haptic Teleoperation of a Manipulator using Virtual Fixtures and Hybrid Position-Velocity Control,” in Proceedings of the 13th World Congress in Mechanism and Machine Science, June 19-25, Guanajuato, Mexico, 6 pages.

[C49] Alizadeh, D., Angeles, J., and Nokleby, S. B., 2011, “Optimization of a Spherical “Homokinetic” Linkage with Minimum Design Error and Maximum Transmission Quality,” in Proceedings of the 13th World Congress in Mechanism and Machine Science, June 19-25, Guanajuato, Mexico, 7 pages.

[C48] McDougall, R., Nokleby, S. B., and Waller, E., 2011, “Robotic Radiation Mapping from Sparse Data,” in Proceedings of the 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, June 2-3, Montreal, Canada, 8 pages.

[C47] von Frankenberg, F., Frejek, M., and Nokleby, S. B., 2011, “A Large Payload Omni-Directional Platform,” in Proceedings of the 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, June 2-3, Montreal, Canada, 10 pages.

[C46] Wrock, M. R. and Nokleby, S. B., 2011, “Decoupled Teleoperation of a Holonomic Mobile-Manipulator System Using Automatic Switching,” in Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering, May 8-11, Niagara Falls, Canada, 6 pages.

[C45] Nokleby, S. B., Pop-Iliev, R., and Willis, D., 2010, “Novel Modular Composite Robotic Link Concepts,” in Proceedings of the IFToMM Symposium on Mechanism Design for Robotics, September 28–30, Mexico City, Mexico, 10 pages.

[C44] Vanderlaan, J. and Nokleby, S. B., 2010, “Automated Fuel Inspection,” in Proceedings of the Uranium 2010 Conference – Volume II, August 15-18, Saskatoon, Canada, pp. 201-211.

[C43] Riess, B. S. and Nokleby, S. B., 2010, “Design and Development of an Automated Uranium Pellet Stacking System,” in Proceedings of the Uranium 2010 Conference – Volume II, August 15-18, Saskatoon, Canada, pp. 189-200.

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[C42] McDougall, R. and Nokleby, S. B., 2010, “Grashof Mechanism Synthesis Using Multi-Objective Parallel Asynchronous Particle Swarm Optimization,” in Proceedings of the 2010 CSME Forum, June 7-9, Victoria, Canada, 7 pages.

[C41] Alizadeh, D., Angeles, J., and Nokleby, S. B., 2009, “A Novel Pan-Tilt Motion Generator, in Proceedings of the 1st International Symposium on Geometric Methods in Robotics and Mechanism Research, December 14-17, Hong Kong, China, 7 pages.

[C40] Platanitis, G., Pop-Iliev, R., and Nokleby, S. B., 2009, “Implementation and Effect of Rubrics in Capstone Design Courses,” in Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 30 – September 2, San Diego, USA, 9 pages.

[C39] Frejek, M. and Nokleby, S. B., 2009, “Simplified Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their Singular Configurations,” in Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 30 – September 2, San Diego, USA, 8 pages.

[C38] McDougall, R. and Nokleby, S. B., 2009, “On the Application of Multi-Objective Parallel Asynchronous Particle Swarm Optimization To Engineering Design Problems,” in Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 30 – September 2, San Diego, USA, 9 pages.

[C37] Ginzburg, S., von Frankenberg, F., and Nokleby, S. B., 2009, “Design and Implementation of

an Indoor Localization System for the Omnibot Omni-Directional Platform,” in Proceedings of the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 28-29, Quebec City, Canada, 10 pages.

[C36] Willis, D., Nokleby, S. B., and Pop-Iliev, R., 2009, “Development of a Composite-Based Long Reach Robotic Arm,” in Proceedings of the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 28-29, Quebec City, Canada, 10 pages.

[C35] Carretero, J. A., Nokleby, S. B., and Firmani, F., 2008, “Wrench Capabilities of Redundantly-Actuated Spatial Parallel Manipulators using Wrench Polytopes,” in Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, September 21–22, Montpellier, France, 6 pages.

[C34] Willis, D., Nokleby, S. B., and Pop-Iliev, R., 2008, “Mechanical Design of the Jasper Mobile Manipulator,” in Proceedings of the ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 3-6, Brooklyn, USA, 9 pages.

[C33] McDougall, R. and Nokleby, S. B., 2008, “Synthesis of Grashof Four-Bar Mechanisms Using Particle Swarm Optimization,” in Proceedings of the ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 3-6, Brooklyn, USA, 5 pages.

[C32] Bemis, S., Riess, B., and Nokleby, S. B., 2008, “Design and Control of an Omnibot Autonomous Vehicle,” in Proceedings of the ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 3-6, Brooklyn, USA, 7 pages.

[C31] Pop-Iliev, R., Nokleby, S. B., Platanitis, G., 2008, “Evaluating the Impact of Tablet Computers on Design Engineering,” in Proceedings of the Fifth CDEN International

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Conference on Design Education, Innovation, and Practice, July 27-29, Halifax, Canada, 6 pages.

[C30] McDougall, R. and Nokleby, S. B., 2008, “Synthesis of Grashof Five-Bar Mechanisms Using Particle Swarm Optimization,” in Proceedings of the 2008 CSME Forum, June 5-8, Ottawa, Canada, 6 pages.

[C29] Bemis, S. and Nokleby, S. B., 2008, “Design of an Omnibot Autonomous Vehicle,” in Proceedings of the 2008 CSME Forum, June 5-8, Ottawa, Canada, 6 pages.

[C28] Willis, D., Pop-Iliev, R., and Nokleby, S. B., 2008, “Design Concepts of Link Cross-Sections for Developing Composite-Based Long-Reach Robotic Arms,” in Proceedings of the Society of Plastic Engineers Annual Technical Conference (ANTEC) 2008, May 4-8, Milwaukee, USA, Canada, pp. 683-687.

[C27] Frejek, M. and Nokleby, S. B., 2008, “Design of a Small Scale Autonomous Amphibious Vehicle,” in Proceedings of the 21st IEEE Canadian Conference on Electrical and Computer Engineering, May 4-7, Niagara Falls, Canada, 6 pages.

[C26] Bemis, S., Riess, B., and Nokleby, S. B., 2008, “Control of a Novel Omni-Directional Platform,” in Proceedings of the 21st IEEE Canadian Conference on Electrical and Computer Engineering, May 4-7, Niagara Falls, Canada, 6 pages.

[C25] Pop-Iliev, R. and Nokleby, S. B., 2007, “Digitally Enhancing the Project-Based Approach to Engineering Education,” in Proceedings of the 2007 International Conference on Engineering Design, August 28-31, Paris, France, 12 pages.

[C24] Garg, V., Carretero, J. A., and Nokleby, S. B., 2007, “Determining the Force and Moment Workspaces of Redundantly-Actuated Spatial Parallel Manipulators,” in Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, September 4-7, Las Vegas, USA, 8 pages.

[C23] Nokleby, S. B., Firmani, F., Zibil, A., and Podhorodeski, R. P., 2007, “An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Architectures,” in Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, September 4-7, Las Vegas, USA, 8 pages.

[C22] Nokleby, S. B. and Pop-Iliev, R. P., 2007, “The Impact of a Ubiquitous Mobile Computing Environment on Design Engineering Education,” in Proceedings of the Fourth CDEN International Conference on Design Education, Innovation, and Practice, July 22-24, Winnipeg, Canada, 6 pages.

[C21] Nokleby, S. B., Firmani, F., Zibil, A., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures,” in Proceedings of the 12th World Congress on Mechanism and Machine Science, June 17 -21, Besançon, France, 6 pages.

[C20] Nokleby, S. B., 2007, “A Novel Undergraduate Mechatronics Course Featuring Hands-On Project-Based Learning,” in Proceedings of the 12th World Congress on Mechanism and Machine Science, June 17 -21, Besançon, France, 6 pages.

[C19] Garg, V., Nokleby, S. B., and Carretero, J. A., 2007, “Force-Moment Capabilities of Redundantly-Actuated Spatial Parallel Manipulators Using Two Methods,” in Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 31 – June 1, Saint-Hubert (Montreal), Canada, 12 pages.

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[C18] Firmani, F., Zibil, A., Nokleby, S. B., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Revolute-Jointed Planar Parallel Manipulators with Additional Actuated Branches,” in Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 31 – June 1, Saint-Hubert (Montreal), Canada, 12 pages.

[C17] Gauthier, J.-F., Angeles, J., and Nokleby, S. B., 2007, “The Synthesis of a Standard Trajectory Used in SCARA Systems,” in Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 31 – June 1, Saint-Hubert (Montreal), Canada, 3 pages.

[C16] Pop-Iliev, R. and Nokleby, S. B., 2006 “Cross-Course Integrated Group Design Projects: 1 + 1 = 11,” in Proceedings of the Third CDEN International Conference on Design Education, Innovation, and Practice, July 24-26, Toronto, Canada, 6 pages.

[C15] Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P., 2006, “An Analytic Method for Determining the Force-Moment Capabilities of Redundantly-Actuated Planar Parallel Manipulators,” in Proceedings of the 2006 CSME Forum, May 21-23, Kananaskis, Canada, 13 pages.

[C14] Pop-Iliev, R. and Nokleby, S. B., 2006, “Designing Competent Design Engineers,” in Proceedings of the Sixth International Symposium on Tools and Methods of Competitive Engineering, April 18-22, Ljubljana, Slovenia, pp. 97-104.

[C13] Pop-Iliev, R. and Nokleby, S. B., 2005 “Concurrent Approach to Teaching Concurrent Design Engineering,” in Proceedings of the Second CDEN International Conference on Design Education, Innovation, and Practice, July 18-20, Kananaskis, Canada, 10 pages.

[C12] Nokleby, S. B. and Pop-Iliev, R., 2005, “A Design Challenge – Incorporating Design into The First Year Engineering Curriculum,” in Proceedings of the Second CDEN International Conference on Design Education, Innovation, and Practice, July 18-20, Kananaskis, Canada, 6 pages.

[C11] Nokleby, S. B., 2005, “Force-Moment Capabilities of Planar-Parallel Manipulators Using Different Redundant-Actuation Configurations,” in Proceedings of the 2005 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 26-27, Saint-Hubert (Montreal), Canada, 13 pages.

[C10] Nokleby, S. B., 2004, “On the Singular Configurations of the Canadarm2,” in Proceedings of Romansy 2004 – the 15th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, June 14-18, Montreal, Canada, 10 pages.

[C9] Nokleby, S. B. and Podhorodeski, R. P., 2003, “Identifying the 1-DOF-Loss Velocity-Degenerate (Singular) Configurations of an 8-Joint Manipulator,” in Proceedings of the 2003 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 30, Saint-Hubert (Montreal), Canada, 15 pages.

[C8] Fisher, R., Podhorodeski, R. P., and Nokleby, S. B., 2001, “A Reconfigurable Planar Paral-lel Manipulator (RPPM),” in Proceedings of the 2001 CCToMM Symposium on Mecha-nisms, Machines, and Mechatronics, June 1, Saint-Hubert (Montreal), Canada, 2 pages.

[C7] Nokleby, S. B. and Podhorodeski, R. P., 2001, “2-DOF Loss Velocity Degeneracies of the Spherical-Revolute-Spherical Manipulator,” in Proceedings of the 2001 CCToMM Sympo-sium on Mechanisms, Machines, and Mechatronics, June 1, Saint-Hubert (Montreal), Canada, 2 pages.

[C6] Nokleby, S. B. and Podhorodeski, R. P., 2001, “Identification of Multi-DOF Loss Velocity Degeneracies for Redundant Manipulators,” in Proceedings of the 2001 CCToMM Sympo-

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sium on Mechanisms, Machines, and Mechatronics, June 1, Saint-Hubert (Montreal), Canada, 2 pages.

[C5] Nokleby, S. B. and Podhorodeski, R. P., 2000, “Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms,” in Proceedings of the ASME 2000 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Sep-tember 10-13, Baltimore, USA, 10 pages.

[C4] Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., 2000, “Resolving Velocity-De-generate Configurations (Singularities) of Redundant Manipulators,” in Proceedings of the ASME 2000 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, September 10-13, Baltimore, USA, 10 pages.

[C3] Nokleby, S. B. and Podhorodeski, R. P., 2000, “Reciprocity-Based Resolution of Velocity Degeneracies (Singularities) for Redundant Manipulators,” in Proceedings of the IDMME’2000 and CSME Forum 2000 Conferences, May 16-19, Montreal, Canada, 8 pages.

[C2] Podhorodeski, R. P. and Nokleby, S. B., 1999, “Reconfigurable Joint Layout for Assembly of All KS Revolute Jointed Main-Arms,” in Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms, June 20-24, Oulu, Finland, pp. 1270-1277.

[C1] Nokleby, S. B. and Podhorodeski, R. P., 1999, “Grashof-Mechanism Synthesis Using Pa-rameter Transformations and Unconstrained Optimization Techniques,” in Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms, June 20-24, Oulu, Finland, pp. 498-506.

(iii) BOOK CHAPTERS

[BC5] Alizadeh, D., Angeles, J., and Nokleby, S. B., 2009, “On the Computation of the Home Posture of the McGill Schönflies-Motion Generator, in Computational Kinematics, edited by Kecskeméthy, A. and Müller, A., Springer: Berlin, Germany, pp. 149-158.

[BC4] Gauthier, J.-F., Angeles, J., and Nokleby, S. B., 2008, “Optimization of a Test Trajectory for SCARA Systems,” in Advances in Robot Kinematics: Analysis and Design, edited by Lenarcic, J. and Wenger, P., Springer: New York, USA, pp. 225-234.

[BC3] Firmani, F., Nokleby, S. B., Podhorodeski, R. P., and Zibil, A., 2008, “Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy,” in Parallel Manipulators: Towards New Applications, edited by Wu, H., I-Tech Education and Publishing: Vienna, Austria, pp. 109-132.

[BC2] Nokleby, S. B. and Podhorodeski, R. P., 2007, “A Complete Family of Kinematically-Simple Joint Layouts: Layout Models, Associated Displacement Problem Solutions, and Applications,” in Industrial Robotics: Theory, Modelling and Control, edited by Cubero, S., Advanced Robotic Systems International: Vienna, Austria, pp. 237-264.

[BC1] Nokleby, S. B. and Podhorodeski, R. P., 2000, “Methods for Resolving Velocity Degeneracies of Joint-Redundant Manipulators,” in Advances in Robot Kinematics, edited by Lenarcic, J. and Stanisic, M. M., Kluwer Academic Publishers: London, United King-dom, pp. 217-226.

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8. NON-REFEREED PUBLICATIONS

(i) TECHNICAL REPORTS

[R26] Vanderlaan, J. and Nokleby, S. B., November 2011, “Design and Development of an Automated Inspection System for Uranium Fuel Pellets,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2011-004, 197 pages.

[R25] Frejek, M. and Nokleby, S. B., July 2011, “Design and Implementation of a Pivoting Bucket Conveyor with Clean-in-Place: Concept Generation and Selection,” Technical Re-port for UniTrak Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2011-003, 108 pages.

[R24] Frejek, M. and Nokleby, S. B., February 2011, “Design and Implementation of a Pivoting Bucket Conveyor with Clean-in-Place: Literature Review,” Technical Report for UniTrak Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2011-002, 22 pages.

[R23] Frejek, M. and Nokleby, S. B., January 2011, “Design and Implementation of a Pivoting Bucket Conveyor with Clean-in-Place: Requirements Document,” Technical Report for UniTrak Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2011-001, 9 pages.

[R22] von Frankenberg, F. and Nokleby, S. B., May 2010, “Automated Pellet Stacking System Proof-of-Concept Prototype,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2010-001, 58 pages.

[R21] Alizadeh, D., Angeles, J., and Nokleby, S. B., January 2010, “A Novel Pan-tilt Motion Generator,” Technical Report, Centre for Intelligent Machines, McGill University, CIM Report TR-CIM-10-01, 17 pages.

[R20] Nokleby, S. B., July 2009, “Visiting Professor Report,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2009-007, 8 pages.

[R19] Nokleby, S. B. and Riess, B., June 2009, “Project Justification for the Automated Pellet Stacking System,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2009-006, 8 pages.

[R18] Riess, B. and Nokleby, S. B., June 2009, “Automated Pellet Stacking Station: Engineering Drawings,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2009-005, 52 pages.

[R17] Vanderlaan, J. and Nokleby, S. B., March 2009, “Automated Pellet Inspection: Literature, Technology, and Patent Review,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2009-004, 12 pages.

[R16] Vanderlaan, J. and Nokleby, S. B., February 2009, “Automated Pellet Inspection: Customer Requirements,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2009-002, 17 pages.

[R15] Riess, B. and Nokleby, S. B., February 2009, “Automated Pellet Stacking: Concept Generation and Evaluation,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2009-001, 37 pages.

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[R14] Riess, B. and Nokleby, S. B., October 2008, “Automated Pellet Stacking: Engineering Specifications,” Technical Report for Cameco Corporation, Mechatronic and Robotic Sys-tems Laboratory, UOIT, MARS Report 2008-005, 16 pages.

[R13] Bemis, S. and Nokleby, S. B., February 2008, “Literature Review of Open Source Software for Robotic Applications,” Technical Report for BRIC Engineered Systems, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2008-003, 10 pages.

[R12] Riess, B. and Nokleby, S. B., January 2008, “Automated Pellet Stacking: Literature Review,” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2008-002, 11 pages.

[R11] Riess, B. and Nokleby, S. B., January 2008, “Automated Pellet Stacking: Customer Requirements (Revised),” Technical Report for Cameco Corporation, Mechatronic and Robotic Systems Laboratory, UOIT, MARS Report 2008-001, 6 pages.

[R10] Riess, B. and Nokleby, S. B., October 2007, “Automated Pellet Stacking: Customer Requirements,” Technical Report for Cameco Corporation, Mechatronic and Robotic Sys-tems Laboratory, UOIT, MARS Report 2007-002, 7 pages.

[R9] Gauthier, J.-F., Angeles, J., and Nokleby, S. B., September 2007, “Optimization of a Test Trajectory for SCARA Systems,” Technical Report, Centre for Intelligent Machines, McGill University, CIM Report TR-CIM-07-01, 30 pages.

[R8] Nokleby, S. B., January 2007, “Forward and Inverse Displacement Solutions for a Paint Removal Robot,” Technical Report for BRIC Engineered Systems, Mechatronic and Ro-botic Systems Laboratory, UOIT, MARS Report 2007-001, 15 pages.

[R7] Nokleby, S. B., June 1999, “MATLAB Mechanism Synthesis Toolbox,” Technical Report for Robotics and Mechanisms Laboratory, University of Victoria, 117 pages.

[R6] Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., March 1999 (Revised April 15, 1999), “Identification of Singular Configurations for Joint Redundant Manipulators of Kinematic Complexity, STEAR #12 – Final Report,” Technical Report for Canadian Space Agency and International Submarine Engineering Limited, 60 pages.

[R5] Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., February 1999, “Identification of Singular Configurations for Joint Redundant Manipulators of Kinematic Complexity, STEAR #12 – Initial Report,” Technical Report for Canadian Space Agency and In-ternational Submarine Engineering Limited, 56 pages.

[R4] Nokleby, S. B., December 1997, “Modeling of Pulp Fibre Separation in Hydrocyclones – Final Report,” Proprietary Technical Report for MB Research – Paper and Packaging Di-vision, MacMillan Bloedel Limited, ~40 pages.

[R3] Nokleby, S. B., December 1996, “Flow Characteristics of Helicopter Cargo Pods,” Technical Report for Dart Aerospace Limited, 56 pages.

[R2] Nokleby, S. B., December 1994, “Treatment of Waste Water by Electrocoagulation,” Technical Report for CANMET – Western Research Centre, Natural Resources Canada, 25 pages.

[R1] Nokleby, S. B., December 1994, “Electrocoagulation Treatment of Bacteria in Water,” Technical Report for CANMET – Western Research Centre, Natural Resources Canada, 9 pages.

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(ii) COURSE MATERIALS AND LEARNING MODULES

[CM4] Pop-Iliev, R., Nokleby, S. B., and Chan, M., 2007, “Integrated Design Projects”, Six learning modules produced in both PDF and AVI formats on various topics in design suitable for junior engineering students in any discipline. Uses NX4 as the CAD package to support the modules (http://deseng.ryerson.ca/xiki/Dcl/Integrated_design_projects).

[CM3] Nokleby, S. B., 2006 (Revised 2007-2009, 2011-2014), “Laboratory Projects Manual for ENGR 4280U: Robotics and Automation,” Faculty of Engineering and Applied Science, UOIT.

[CM2] Nokleby, S. B. and Chan, C., 2006 (Revised 2007-2008), “Mini-Projects Manual for

ENGR 3390U: Mechatronics,” Faculty of Engineering and Applied Science, UOIT. [CM1] Nokleby, S. B., 2005 (Revised 2006), “Laboratory Projects Manual for ENGR 3270U:

Kinematics and Dynamics of Machines,” Faculty of Engineering and Applied Science, UOIT.

9. MANUSCRIPTS SUBMITTED

(i) ARTICLES SUBMITTED TO REFEREED JOURNALS

[JS1] Wrock, M. and Nokleby, S. B., “An Automatic Switching Approach to Teleoperation of Mobile-Manipulator Systems Using Virtual Fixtures,” conditionally accepted, revised manuscript submitted to Robotica.

10. PAPERS/POSTERS PRESENTED AT MEETINGS AND SYMPOSIA

[CP7] Gilbert, J., Nokleby, S. B., and Waller, E., 2015, “MCNP Simulation of Offline Core Dose in CANDU Reactors,” UNENE Workshop, December, Toronto, Canada.

[CP6] Gilbert, J., Chan, C., Manning, M. Shivam, S., Nokleby, S. B., and Waller, E., 2014, “Designing the Next Generation of CANDU Pressure Tube Inspection Tools,” UNENE Workshop, December, Toronto, Canada.

[CP5] Gilbert, J., Graham, H., Verstegen, C., Egerter, D., Nokleby, S. B., and Waller, E. , 2013, “Design and Development of a Non-Contact Flaw Replication Tool for CANDU Fuel Channels,” 34th CNS Annual Conference and 37th Annual CNS-CNA Student Conference, June 9-12, Toronto, Canada. - Winner Best Undergraduate Poster Award

[CP4] McDougall, R., Nokleby, S. B., and Waller, E., 2012,“ Radbot - A Mobile Robotic Platform for Generating Radiation Maps,” UNENE Workshop, December, Toronto, Canada.

[CP3] McDougall, R., von Frankenberg, F., Waller, E., and Nokleby, S. B., 2011,“ Radbot - A Mobile Robotic Platform for Generating Radiation Maps,” UNENE Meeting, December, Toronto, Canada.

[CP2] McDougall, R., Waller, E., and Nokleby, S. B., 2010, “A Strategy for Creating Probabilistic Radiation Maps in Areas Based on Sparse Data,” 2010 American Nuclear Society Winter Meeting, November 7-11, Las Vegas, USA.

[CP1] McDougall, R., Millman, R., and Nokleby, S. B., 2010, “A Generic Strategy for Individualized Drug Delivery Including Pharmacokinetic Transport,” First AMA-IEEE Medical Technology Conference on Individualized Health Care, March 28-30, Washington, DC, USA.

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http://deseng.ryerson.ca/xiki/Dcl/Integrated_design_projects


11. INVITED LECTURES

[L14] “Robotics in Challenging Environments - An Overview of the Research Activities of the Mechatronic and Robotic Systems Laboratory at UOIT,” November 16, 2015, Faculty of Engineering, University of Ottawa, Ottawa, Canada.

[L13] “An Overview of the Research Activities of the Mechatronic and Robotic Systems Laboratory at UOIT,” December 10, 2010, School of Engineering, University of Guelph, Guelph, Canada.

[L12] “Industrial Research Projects at the Mechatronic and Robotic Systems Laboratory: A Win-Win Proposition,” UOIT Connects 2010, May 5, 2010, University of Ontario Institute of Technology, Oshawa, Canada.

[L11] “Advanced Robotics at UOIT,” Campus Connections 2009, April 30, 2009, University of Ontario Institute of Technology, Oshawa, Canada.

[L10] “Co-ordinated Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their Singular Configurations,” Seminars in Robotic Mechanical Systems, April 23, 2009, Centre for Intelligent Machines, McGill University, Montreal, Canada.

[L9] “Research Activities of the Mechatronic and Robotic Systems Laboratory,” Research Excellence Speaker Series, March 3, 2009, University of Ontario Institute of Technology, Oshawa, Canada, Canada.

[L8] “Development of a Mobile-Manipulator System,” Seminars in Robotic Mechanical Systems, July 20, 2006, Centre for Intelligent Machines, McGill University, Montreal, Canada.

[L7] “Identification of Velocity-Degenerate (Singular) Configurations of Joint-Redundant Robotic Manipulators,” March 8, 2004, Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Canada.

[L6] “Identification of Velocity-Degenerate (Singular) Configurations of Joint-Redundant Robotic Manipulators,” December 8, 2003, Department of Mechanical and Materials Engineering, University of Western Ontario, London, Canada.

[L5] “Identifying the Velocity-Degenerate (Singular) Configurations of the Canadarm2,” November 25, 2003, Department of Mechanical Engineering, Queen’s University, Kingston, Canada.

[L4] “Identification of Loss of Motion Configurations of Joint-Redundant Manipulators,” October 10, 2003, Department of Mechanical Engineering, McGill University, Montreal, Canada.

[L3] “Identification and Utilization of Loss of Motion Capabilities of Robotic Manipulators,” September 4, 2003, Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada.

[L2] “Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity-Degenerate Configurations,” Seminars in Robotic Mechanical Systems, May 28, 2003, Centre for Intelligent Machines, McGill University, Montreal, Canada.

[L1] “Reciprocity-Based Resolution of Velocity-Degenerate (Singular) Configurations of Joint-Redundant Robotic Manipulators,” March 10, 2003, Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Canada.

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D. TEACHING ACTIVITIES

13. COURSES TAUGHT (with enrolments)

(i) UNDERGRADUATE COURSES TAUGHT

New Undergraduate Courses Developed and Taught at UOIT

ENGR 3270U: Kinematics and Dynamics of Machines Fall 2005 (75 students) ENGR 3390U: Mechatronics Winter 2008 (79 students) Winter 2007 (106 students) 5

Winter 2006 (60 students

ENGR 4330U: Mechatronic Systems Design I Fall 2008 (21 students) ENGR 4331U: Mechatronic Systems Design II Winter 2009 (21 students) MANE 4280U: Robotics and Automation Fall 2015 (107 students) 6

Fall 2014 (103 students) Fall 2013 (72 students) Fall 2012 (72 students) Fall 2011 (73 students) Fall 2009 (90 students) Fall 2008 (59 students) Fall 2007 (90 students) Fall 2006 (53 students) MECE 4320U: Advanced Mechatronics Winter 2015 (34 students) 7

Winter 2014 (27 students) Winter 2013 (23 students) Winter 2012 (31 students) Winter 2010 (44 students) Winter 2009 (20 students) Winter 2008 (33 students)

New Undergraduate Courses Developed and Co-Taught at UOIT

ENGR 4330U: Mechatronic Systems Design Fall 2007 (32 students)

Undergraduate Courses Developed and Taught at UOIT

ENGR 1015U: Introduction to Engineering Winter 2016 (38 students) ENGR 3200U: Engineering Graphics and Design Fall 2005 (118 students) Fall 2004 (123 students)

ENGR 4999U: Design Thesis Winter 2008 (4 students) Winter 2007 (8 students)

Two Sections (44 students and 60 students, respectively) 5

Formerly ENGR 4280U: Robotics and Automation (renamed in the 2013/2014 academic year)6

Formerly ENGR 4320U: Advanced Robotics (renamed in the 2013/2014 academic year)7

Updated: 2016/04/28 ! of !20 34


New Undergraduate Courses Developed and Co-Taught at Queen’s University

MINE 472: Mining Systems, Automation, and Robotics Winter 2016 (12 students)

Undergraduate Courses Taught at the University of Victoria

ELEC 426: Robotics Summer 2002 (13 students)

Courses Supported as a Teaching Assistant at the University of Victoria

ELEC 426: Robotics Summer 2001 ELEC 475: Robotics II Spring 2000-2001 MECH 141: Engineering Fundamentals I Fall 2002 MECH 241: Statics Fall 2001 MECH 335: Theory of Mechanisms Spring 1998-2003

MECH 355: Introduction to Microprocessors Summer 1998 MECH 360: Engineering Design II Fall 1998-2000 MECH 430: Robotics Summer 1999-2000, 2002

(ii) GRADUATE COURSES TAUGHT

New Graduate Courses Developed and Taught at UOIT

ENGR 5004G: Directed Studies (various topics) Robotics and Automation in Mining Fall 2014 (1 student) Autonomous Amphibious Robots Fall 2014 (1 student) 3D Simultaneous Localization and Mapping Winter 2013 (1 student) Methods for Remote Measurement of Radiation Levels Fall 2012 (1 student)

in Uranium Mines CANDU Fuel Channel Inspection Systems Spring 2012 (1 student) NDT Inspection Techniques for Dense Ceramic Materials Fall 2011 (1 student) Simultaneous Localization and Mapping Fall 2010 (1 student) Mobile-Manipulator Systems Fall 2009 (2 students) Redundant Robot Manipulators Spring 2009 (1 student) Advanced Technologies for Automated High-Speed Fall 2008 (1 student)

Part Inspection for Nuclear Applications Autonomous Mobile Robot Navigation Fall 2008 (1 student) Guidance and Vision Systems for Mobile Robotics Fall 2007 (1 student) Applications High Speed and Precision Measurement Systems Fall 2007 (1 student) Localization and Control of Mobile Robots Fall 2007 (1 student) Optimal Design Using Particle Swarm Optimization Spring 2007 (1 student)

ENGR 5010G: Advanced Optimization Winter 2008 (11 students) Winter 2007 (9 students)

ENGR 5945G: Mobile Robotic Systems Fall 2015 (2 students) Fall 2014 (10 students)

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Fall 2013 (4 students) Fall 2012 (8 students) Winter 2010 (9 students) ENGR 6004G: Directed Studies (various topics)

Robotics and Automation in Mining Fall 2012 (1 student) Human-Robot Collaboration Fall 2009 (1 student)

New Graduate Courses Developed and Co-Taught at UOIT

ENGR 5004G: Directed Studies (various topics) Unmanned Aerial Vehicles and Aerial Manipulator Spring 2012 (1 student) Systems Unmanned Aerial Manipulator Systems Spring 2010 (1 student) Advanced Composite Materials and Their Application Fall 2008 (2 students) to Robotic Systems Advanced Composite Materials and Their Application Fall 2007 (1 student) to Robotic Systems NUCL 5004G: Directed Studies (various topics) Radiation Field Characterization in CANDU Reactors Spring 2013 (1 student)

(iii)THESES/PROJECTS SUPERVISED

Summary:

(a) Postdoctoral Fellows Supervised

(b) Doctoral Students Supervised

(c) Master’s Students Supervised

Postdoctoral Doctoral Master’sCompleted 1 2 18In Progress 0 1 8

No. Name Period/ University Project Title Comments

1 Dr. Flavio Firmani 2007 UVic

Redundant Parallel Manipulator Systems

Co-Supervised with Prof. R. P. Podhorodeski (UVic)

No. Name Period/ University Dissertation Title Comments

4 Mr. Michael Wrock 2012-Present UOIT

Automated Robotic Mining Systems

3 Mr. Cliff Chan 2008-2015 (incomplete)

Next Generation CANDU Inspec-tion Tools

Co-Supervised with Prof. E. Waller (UOIT)

2 Mr. Robin McDougall 2009-2015 UOIT

Robotic Radiation Mapping Co-Supervised with Prof. E. Waller (UOIT)

1 Mr. Danial Alizadeh 2008-2012 McGill

Optimum Kinetostatic Design of Parallel Two-Limb Schönflies Motion Generators

Co-Supervised with Prof. J. Angeles (McGill)

No. Name Period of

Study/ University

Thesis Title Comments

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31 Mr. Yuchen Yang 2015-Present UOIT

Development of a Non-Contact Flaw Replication Tool for CANDU Fuel Channels

MEng Project

30 Mr. Abu Khan 2014-Present UOIT

In-Situ Flaw Replication for CANDU Fuel Channels

29 Mr. Michael Hosmar 2014-Present UOIT

Radiation Mapping Robots Co-Supervised with Prof. E. Waller (UOIT)

28 Mr. Mark Borg 2013-Present UOIT

(part-time)

Design and Development of an Autonomous Amphibious Robot

27 Mr. Mark Manning 2013-Present UOIT

Design and Development of a Localization System for a CAN-DU Fuel Channel Inspection Ro-bot


26 Mr. Martin Drennan 2013-Present UOIT

(part-time)

Automous Mining Systems

25 Mr. Tony Baltovski 2012-Present UOIT

Design and Development of an Aerial Manipulator System

Co-Supervised with Prof. Remon Pop-Iliev (UOIT)

24 Mr. Florentin von Frankenberg

2010-Present UOIT

(part-time)

Design and Development of a Docking System for Autonomous Quad-Copters

23 Mr. Jordan Gilbert 2013-2016 UOIT

Radiation Effects on a New CANDU Fuel Channel Inspection Robot


22 Mr. Mike MacLeod 2008-2015 UOIT

(incomplete)

Design and Development of a Novel Joint for Composite-Based Robot Arms

Co-Supervised with Prof. R. Pop-Iliev (UOIT)

21 Mr. Nicholas Charabaruk 2013-2015 UOIT

Design and Development of an Autonomous Omnidirectional Hazardous Material Handling Robot

20 Mr. Shivam Shukla 2012-2015 UOIT

Design and Development of a Robotic Crawler for CANDU Fuel Channel Inspection


19 Mr. Christopher Kantor 2011-2015 UOIT

Design and Development of an Automated Pellet Inspection System for Nuclear Fuel Pellets

18 Mr. Kasmet Niyongabo 2012-2014 UOIT

Development of a Radiation Sensor System for Jet Bore Mining

NSERC IPS Holder

17 Mr. Mo Bina 2014 UOIT

Design and Development of a Six Cell Lithium Polymer Battery Monitoring and Warning System

MEng Project

16 Mr. Tyler Cove 2010-2014 UOIT

(incomplete)

Indoor Localization for Aerial Vehicles

Co-Supervised with Prof. Remon Pop-Iliev (UOIT)

15 Mr. Sasha Ginzburg 2008-2012 UOIT

Design and Development of an Autonomous Navigation System for an Omni-Directional Four-Wheeled Mobile Robot

NSERC PGS Holder

14 Mr. Michael Wrock 2009-2011 UOIT

Haptic Teleoperation of Mobile Manipulator Systems Using Vir-tual Fixtures

13 Mr. Joe Vanderlaan 2008-2011 UOIT

Automated Inspection of Sintered Uranium Fuel Pellets

Updated: 2016/04/28 ! of !23 34


(d) Graduate Supervisory Committees

12 Mr. Hadi Turk 2009-2011 (incomplete)

Autonomous Mobile Manipula-tors

11 Mr. William Scott 2007-2011 UOIT

Design of a Coded X-Ray Aper-ture Imagining System


10 Mr. Kannan Dorairaj 2009-2010 UOIT

(incomplete)

Development of Kinematic Con-trol Algorithms for Redundant Robots

9 Mr. Michael Frejek 2007-2009 UOIT

Novel Tele-Operation of Mobile-Manipulator Systems

NSERC PGS Holder

8 Mr. Steven Bemis 2007-2009 UOIT

Design And Development of a Novel Omni-Directional Platform

7 Mr. Brian Riess 2007-2009 UOIT

Design and Development of an Automated Uranium Pellet Stack-ing System

6 Mr. Darrin Willis 2007-2009 UOIT

Design and Development of a Novel Lightweight Long-Reach Composite Robotic Arm

NSERC PGS Holder Co-Supervised with Prof. R. Pop-Iliev (UOIT)

5 Mr. Robin McDougall 2007-2008 UOIT

Optimization-Based Mechanism Synthesis Using Multi-Objective Parallel Asynchronous Particle Swarm Optimization

4 Mr. Jean-François Gauthier 2006-2008 McGill

Contributions to the Optimum Design of Schönflies Motion Generators


3 Mr. Venus Garg 2006-2007 UNB

Force-Moment Capability Analy-sis of Redundantly Actuated Spa-tial Parallel Manipulators

Co-Supervised with Prof. J. A. Carretero (UNB)

2 Mr. Alp Zibil 2004-2007 UVic

Wrench Capabilities of Redun-dantly-Actuated Planar Parallel Manipulators

Co-Supervised with Prof. R. P. Podhorodeski (UVic)

1 Mr. Peter Sokol 2004 McGill

(incomplete)

Real-Time Inverse Kinematics of Redundant Robots


No. Name Degree Period/ University Role Thesis Title

14 Mr. Josh Pickard PhD 2015-Present UNB

Committee Member

TBD

13 Mr. David Brighton MASc 2016 UOIT

External Examiner

Theoretical Performance Analysis of a Novel Hemispherical Tissue Equiva-lent Proportional Counter for Neutron Monitoring and Dosimetry

12 Mr. Shahid Ahmed PhD 2013-2015 UOIT

Committee Member

Investigation of Factors that Influence Coloration in Polycarbonate based Compounded Plastics

11 Ms. Meiying Zhang PhD 2015 Université

Laval

External Examiner

Geometric Synthesis of Force and Torque Limiting Modules for Serial Robot Safety

10 Mr. Mostafa Mirzaei PhD 2015 Concordia University

External Examiner

Cooperative Multi Agent Search and Coverage in Uncertain Environments

9 Mr. Soheil Parsa PhD 2011-2014 UNB

Committee Member

Internal Redundancy: An Approach to Improve Dynamic Parameters of Paral-lel Manipulators

Updated: 2016/04/28 ! of !24 34


(e) Undergraduate Research Assistants Supervised

8 Ms. Edna Sacay MASc 2014 UOIT

External Examiner

Monte Carlo Calculated Efficiency Curve Investigation for the Ontario Power Generation Moving Bed Whole Body Counter

7 Mr. Saad Khattak MSc 2012 UOIT

External Examiner

A Variational Approach to Mapping: An Exploration of Map Representation for SLAM

6 Mr. Abraham Weiss PhD 2010 Carleton

University

External Examiner

Generalized Mathematical Modelling of a Novel Singularity-free Class of Six Degrees of Freedom Motion Plat-form

5 Mr. Joseph Chaput MASc 2010 UOIT

External Examiner

A Generic Methodology for The 3-Dimensional Visualization of Radia-tion Fields

4 Mr. Mark Bernacki MASc 2007-2009 UOIT

Committee Member

Design and Development of an Ex-tended Range Electric By-Wire/Wire-less Hybrid Vehicle with a Near Wheel Motor Drivetrain

3 Mr. Matthew van Wieringen MASc 2007-2009 UOIT

Committee Member

Design and Development of a Custom Dual Fuel (Hydrogen + Gasoline) Pow-er System for an Extended Range Elec-tric Vehicle Architecture

2 Mr. Emad Abdalla MASc 2007-2009 UOIT

Committee Member

Rapid Rotational Foam Molding of Integral Skin Polypropylene Cellular Composites

1 Ms. Kimberly Christian MASc 2007-2009 UOIT

Committee Member

Rapid Rotational Foam Molding Of Polyethylene Integral-Skin Foamed Core Moldings

No. Name Period/ University Project Title Comments

16 Mr. Paulo Cornec 2015 UOIT

Autonomous Amphibious Robot

15 Mr. Alvin Chan 2014-2015 UOIT

Development of a Robotic Arm for a Quadcopter; Autonomous Amphibious Robot

NSERC USRA Holder (twice)

14 Mr. Joseph Idris 2013 UOIT

Development of a Robotic Arm for a Quadcopter

NSERC USRA Holder

13 Ms. Larissa Manfrinato 2013 UOIT

Development of a Heavy Payload Omni-Directional Platform

Brazilian Science Without Borders Scholarship Holder

12 Mr. Yau Cheung (Eugene) Chan

2013 UOIT


Volunteer

11 Mr. Kiran Thomas 2012 UOIT

Development of an Indoor Au-tonomous Aerial Vehicle Test Fa-cility

NSERC USRA Holder

10 Ms. Hannah Graham 2012 UOIT



9 Mr. Jordan Gilbert 2012 UOIT



8 Mr. Cameron Verstegen 2012 UOIT



Updated: 2016/04/28 ! of !25 34


(f) Undergraduate Capstone Design Project Students Supervised

7 Mr. Ian Wood 2010 UOIT


NSERC USRA Holder

6 Mr. Jeffery Rembosz 2009 UOIT

Development of a Uranium Pellet Stacking Machine

NSERC USRA Holder

5 Mr. Florentin von Franken-berg

2008-2010 UOIT

Development of an Omnibot Au-tonomous Vehicle

NSERC USRA Holder

4 Mr. Sasha Ginzburg 2007 UOIT

Implementation of Spatial Joystick in a Real-Time Environment

NSERC USRA Holder

3 Mr. Adam Kraehling 2006 UOIT

Control Algorithms for a Mobile-Manipulator System

2 Mr. Steven Bemis 2006-2007 UOIT

Development of a Mobile-Manipu-lator System; Implementation of a Modular Robot; and Design of an Omnibot Platform

1 Mr. Michael Frejek 2005-2007 UOIT

Implementation of a Spatial Joy-stick for Tele-Operating a Mobile-Manipulator System; Development of a Mobile-Manipulator System; Integration and Testing of Research Robotics Facilities

NSERC USRA Holder (twice)

No. Group Period/ University Project Title Comments

32 Mr. Quinn Daigle Mr. Stephen Dawson Mr. Jakalase Dennis Mr. David Manoharan Mr. Jenan Vijendra

2015-2016 UOIT

Design and Development of an Active Umbilical System for the Aerial Manipulator System

31 Mr. Kevin Brand Mr. Richard Ragoonanan Mr. Sanjay Sabanayagam Mr. Caleb Smith Mr. Will St. Pierre

2015-2016 UOIT

Design and Development of a Light-Weight Manipulator for the Aerial Manipulator System

30 Mr. Karsin Lam Mr. Robin Lau Mr. Thuvishan Rajagu-lasingam Mr. Riddhesh Soneji Mr. Pranit Trivedi

2015-2016 UOIT

Design and Development of Navigation and Power Systems for an Autonomous Amphibious Robot

29 Ms. Carla Cain Mr. Alvin Chan Mr. Joseph Idris Mr. Kevin Lam Ms. Kelly Long Mr. Keval Thaker

2014-2015 UOIT

Design and Development of Navigation and Power Systems for an Autonomous Amphibious Robot

28 Mr. Omer Dobrescu Mr. Brian Lau Mr. Addel Mezil Mr. Luke Puccini

2014-2015 UOIT

Design and Development of a Chassis, Suspension, and Drive Train for an Autonomous Amphibious Robot

First Place in the 2015 UOIT Capstone Design Competition

27 Mr. Amer Almootassem Mr. David Botros Mr. Hasan Khaliq Mr. Avinash Kumar Mr. Maaz Tanker

2013-2014 UOIT

Design and Development of Power and Communication Systems for an Autonomous Amphibious Robot

First Place in the 2014 UOIT Capstone Design Competition

Updated: 2016/04/28 ! of !26 34


26 Mr. Michael Hosmar Mr. Kaushal Kapasi Ms. Carly Valcheff Mr. Dhaval Vashi

2013-2014 UOIT

Design and Development of a Navigation System for an Au-tonomous Amphibious Robot

25 Mr. Abdul Choudhry Mr. Ali Farooq Mr. Michael Finkelstein Mr. Curtis Fung Mr. Labib Mubashir

2013-2014 UOIT

Design and Development of a Chassis, Suspension, and Drive Train for an Autonomous Amphibious Robot

24 Mr. Andrew Markudis Mr. Dave Paradis Mr. Calvin Tang Ms. Grace Wong

2012-2013 UOIT

Design and Development of an Automated Ash Can Replacement System for UF6 Production

Co-Supervised with Prof. M. Eklund (UOIT)

23 Mr. Dean Egerter Mr. Jordan Gilbert Ms. Hannah Graham Mr. Cameron Verstegen

2012-2013 UOIT

Design and Development of a Non-Contact Flaw Replciation Tool for CANDU Fuel Channels


22 Mr. Florian Gmeiner Mr. Bikram Modi Mr. Faizuddin Musafere Mr. Harris Mushtaq Mr. Harish Sanathkumar

2012-2013 UOIT

Design and Development of a Base Module for a Next Genera-tion CANDU Fuel Channel In-spection System

21 Mr. Vijyat Bhalla Ms. Aiman Khan Mr. Tim Miethig Mr. Logan Robinson

2012-2013 UOIT

Robotic Inspection of CANDU Reactor Face Feeders

20 Mr. Jared Burton Mr. Brad Fegan Mr. Chris Jankowski Mr. Sean Kell Mr. Justin Morton

2012-2013 UOIT

Design and Development of a Mobile Autonomous Replenish-ment System

19 Mr. Paramvir Arora Mr. Aditya Prashar Mr. Sunjit Sodhi Mr. Mario Vasilescu

2011-2012 UOIT

Automated Space Maximizing Storage Retrieval for Small-Scale Non-Industrial Spaces

18 Mr. Herrick Chu Mr. Hua Lin Mr. Kyle Rebllo Mr. Tehsin Siddiqui Mr. Syed Ajwad Tahir

2011-2012 UOIT

Design and Development of a In-Line Washing and Drying System for CANDU Fuel Pellets

OCE Connections Project with Cameco Corporation

17 Mr. Brendan Barry Mr. Nick Charabaruk Mr. Mark Manning Ms. Danielle Taylor

2011-2012 UOIT

Design and Development of a CANDU Fuel Pellet In-Line Mea-suring System

Third Place in the 2012 UOIT Capstone Design Competition Third Place UOIT OCE De-sign Competition OCE Connections Project with Cameco Corporation

16 Mr. Furqan Habib Mr. Akshay Khetarpal Mr. Jangbahadur Mann Mr. Jamie Smith Mr. Andre Wabrik Mr. Kalkidan Wedaj

2009-2010 UOIT

Design and Development of a Drive-Train for an Omni-Direc-tional Platform

15 Mr. Michael Baldassi Ms. Cassandra DeMarco Ms. Kristen Pytlowana

2009-2010 UOIT

Design and Development of a Manufacturing System for Com-posite Robot Arm Links

OCE Connections Project with BRIC Engineered Sys-tems

Updated: 2016/04/28 ! of !27 34


14 Mr. John Damiani Mr. Jeffrey Martin Mr. Bradley Timson

2008-2009 UOIT

Design and Development of an Innovative Joint for a Composite Arm Robot

Co-Supervised with Prof. R. Pop-Iliev (UOIT) OCE Connections Project with BRIC Engineered Sys-tems

13 Mr. Kannan Dorairaj Mr. Hussam Malek Ms. Samar Sheikh Mr. Brett Weir

2008-2009 UOIT

Design and Development of an Automated Stack Measurement System

Third Place UOIT OCE De-sign Competition OCE Connections Project with Cameco Corporation

12 Mr. Ieman Akhavan-Mostoufi Mr. Carlo Rammouz Mr. Hadi Turk

2008-2009 UOIT

Design and Fabrication of a New Radiological Triage Mask


11 Mr. Eric Chiu Mr. Samad Farooqui Mr. Chintankumar Patel Mr. Ryman Rasulbaksh

2008-2009 UOIT

Design and Development of a Ro-botic Non-Destructive Inspection (NDI) System for Aircraft Com-ponents


10 Mr. Eric Branton Mr. Jordan Ross Mr. Cody Rundle Mr. Rob Thomson

2008-2009 UOIT

Design and Development of an Enhanced Contour Following Sys-tem for Automated Paint Removal for Aircraft


9 Mr. Nana Osei Addae Ms. Frances Awachie Mr. Hiten Patel Mr. Florentin von Franken-berg

2008-2009 UOIT

Design and Development of an End Pellet Tray Handling System

OCE Connections Project with Cameco Corporation

8 Mr. Mo Bina Mr. Ian Spencer Mr. Ranjith Sundaram Mr. Joe Vanderlaan

2007 UOIT

Design and Development of a Pan-and-Tilt Stereo Vision System

Second Place in the 2007 UOIT Capstone Design Competition

7 Mr. Geoff Chadsey Mr. Sasha Ginzburg Mr. Varun Persaud Ms. Monica Sabri

2007 UOIT

Design and Development of a Velocity Controller for an Omnibot AV

6 Mr. Davin Gibson Ms. Yuk Fung Kwok Mr. Calvin Soenjaya Mr. Peter Tregunna

2007 UOIT

Design and Development of a Guidance System for an Omnibot AV

5 Mr. Adrian Baker Mr. Simon Freijer-Poulsen-Cloutier Ms. Jiaming Liang Mr. Michael Wrock

2007 UOIT

Design and Development of a Pose Identification System for an Omni-bot AV

4 Mr. Faisal Ashfaq Mr. Mohamed Eletry Mr. Anand Ganesan Mr. Nishant Singh

2007 UOIT

Design and Development of an Automated Coupling System for Omnibot AVs

3 Mr. Husain Master Mr. Janarthanan Ratnam Mr. Karthigesh Sivalingam Mr. Arthikan Wilson

2007 UOIT

Design and Development of an Automated Swappable Battery System for Omnibot AVs

2 Mr. Hasan Ahmed Mr. Manesh Nair Mr. Aswin Pillarisetty Mr. Himedri Shastry

2007 UOIT

Design and Development of an Automated Leveling and Stabilization System for an Omnibot AV

Updated: 2016/04/28 ! of !28 34


(g) Undergraduate Thesis Students Supervised 8

1 Mr. Craig Cameron Mr. Daniel Lau Mr. Sean Persad Mr. Cumbysis Tampal

2007 UOIT

Design and Development of a Global Controller for an Omnibot AV System

No. Name Period/ University Thesis Title Comments

12 Mr. Mohamed Eletry 2008 UOIT

Design and Development of an Automated Arabidopsis Seed Sorter

11 Mr. Kyle Mullin 2008 UOIT

Design and Development of a Manufacturing System for Robotic Links Made of Advanced Compos-ite Materials


10 Mr. Karthigesh Sivalingam 2008 UOIT

Design and Development of Non-Contact Temperature and Mea-surement and Layer Detection Systems for a Paint Removal Ro-bot

9 Mr. David Tripp 2008 UOIT

Design and Development of a Composite Robotics Test-Bed for a Long Reach Heavy Payload Ro-botic Arm


8 Mr. Curtis Agar 2007 UOIT

Mechanical Design and Develop-ment of an Omni-Directional Mo-bile Manipulator Platform

7 Mr. Steven Bemis 2007 UOIT

Design of a Semi-Automated De-Icing Device for Residential Dri-veways

6 Ms. Kim Christian 2007 UOIT

Design and Development of a Secondary Electrical Uplock Re-lease for Airplane Landing Gear

5 Mr. Kyle Dabrowski 2007 UOIT

Design and Development of a Res-idential Undercarriage Car Washer

4 Mr. Michael Frejek 2007 UOIT

Design and Development of a Small-Scale Amphibious Utility

3 Mr. Brian Riess 2007 UOIT

Design and Development of an Automated Rain Gutter Guard

2 Mr. David Summers 2007 UOIT

Design of a Stowable Device to Increase the Short Term Cargo Capacity of a Car

1 Mr. Darrin Willis 2007 UOIT

Design, Analysis, and Develop-ment of a Dampening System for a Mobile Manipulator

As of the 2008/2009 academic year, the UOIT Undergraduate Thesis in Engineering was replaced with a year-long Capstone Design Course. 8

Updated: 2016/04/28 ! of !29 34


E. SERVICE AND ADMINISTRATIVE POSITIONS

14. (i) UNIVERSITY SERVICE

Name of Committee or Activity Dates PositionCurrent Committees or ActivitiesUOIT Renewal Committee for the Dean of the Faculty of Engineering and Applied Science

2016/04-Present M

FEAS Faculty Hiring Committee - Mechatronics CRC Tier II

2016/01-Present M

UOIT Canada First Research Excellence Fund Committee 2015/04-Present MFEAS TELE Committee 2015/09-Present MFEAS Mechanical Engineering Program Committee 2013/07-Present MFEAS CEAB Stream Leader Committee 2013/03-Present MFEAS Mechatronics Engineering Program Committee 2013/02-Present MFEAS AMME Department Council 2011/07-Present MUOIT Radiation Safety Committee 2011/09-Present

2009/08-2010/06M

UOIT Academic Appeals Committee 2011/07-Present 2009/02-2010/06

M

FEAS Faculty Council 2004/10-Present MUOIT Open Houses 2004-2010, 2016-

PresentV

Past Committees or ActivitiesUOIT Canada First Research Excellence Fund - UOIT Canadian Centre for Predictive Analytics Sub-Committee: Prognostics, Security, and Safety

2015/04-2015/08 M

UOIT Associate Provost Hiring Committee 2014/07-2014/12 MFEAS Faculty Hiring Committee - Mechatronics 2014/01-2014/09 MUOIT Graduate Studies Committee on PhD Quality Stan-dards

2013/08-2014/06 M

UOIT Campus Planning Working Committee 2012/04-2013/06 MFEAS CEAB Task Force 2013/03-2013/11 MFEAS AMME Department Curriculum Committee 2011/09-2013/08 MFEAS Faculty Hiring Committee - Automotive 2012/12-2013/08 MUOIT Pension and Benefits Committee 2011/10-2012/06

2004/10-2010/06M

FEAS Faculty Hiring Committee - Automotive 2012/01-2012/04 MUOIT Third Year Review Committee - Lennaert van Veen 2011/09-2011/10 MUOIT Academic Council 2009/10-2010/06 MUOIT Research Excellence Awards Selection Committee 2009/07 MFEAS Faculty Teaching Awards Committee 2009/07 MFEAS Student Awards Committee 2009/07-2010/06 MFEAS Change Committee 2008/12-2009/06 MFEAS Dean Search Committee 2008/05-2009/05 MFEAS Program Review Committee 2008/01-2009/06 MFEAS Capstone and Design Thesis Committee 2008/01-2008/12 MUOIT Librarian Hiring Committee 2007/04 MFEAS Teaching Award Committee 2007/04-2007/06 MIron Ring Committee 2006/10-2007/03 MUOIT E-Portfolio Committee 2006/10 MUOIT Academic Integrity Committee 2006/06-2010/06 MFEAS Library Liaison 2006/05-2010/06 VOrganizing Committee for the UOIT Engineering Robotics Competition

2006/04-2010/06 M

Updated: 2016/04/28 ! of !30 34


Legend: M: Member, C: Chair, V: Volunteer

(ii) PROFESSIONAL SERVICE

FEAS Academic Performance Committee 2006/04-2008/01 MFEAS Committee for New Graduate Programs 2006/01-2008/06 MUOIT A9 Building Inspection Committee 2005/08-2006/08 MUOIT Sub-Committee on Graduate Student Support 2005/05-2005/10 MFEAS Laboratory Specialist Hiring Committee 2005/04-2005/07 MFEAS IT Specialist Hiring Committee 2005/01-2005/02 MIntegrated Manufacturing Centre Steering Committee 2005/01-2010/06 MFEAS Laboratories Committee 2005/01-2008/01 MFEAS Curriculum Committee 2004/10-2009/06 COntario University Fairs 2004-2005 VSearch Committee for the Chair of the Department of Me-chanical Engineering, University of Victoria

2002/06-2003/05 M

Search Committee for the Dean of the Faculty of Engi-neering, University of Victoria

2001/11-2002/02 M

Name of Committee or Activity DatesReviewer for the following journals:

• Advanced Robotics • ASME Journal of Computational and Nonlinear Dynamics • ASME Journal of Mechanical Design • ASME Journal of Mechanisms and Robotics • ASME/IEEE Transactions on Mechatronics • Astronautica • Autonomous Robots • CSME Transactions • IEEE Transactions on Human-Machine Systems • IEEE Spectrum • IEEE Transactions on Robotics (formerly, IEEE Transaction on

Robotics and Automation) • International Journal of Control, Automation, and Systems • International Journal of Robotics and Automation • Journal of Super Computing • Journal of Zhejiang University-Science A • Kuwait Journal of Science and Engineering • Mathematical Problems in Engineering • Meccanica • Mechanics Based Design of Structures and Machines • Mechanism and Machine Theory • Multibody System Dynamics • Proceedings of the Institution of Mechanical Engineers, Part C,

Journal of Mechanical Engineering Science • Robotica • Robotics and Autonomous Systems • Robotics and Computer-Integrated Manufacturing

On-Going

Reviewer for the following publishers: • Oxford University Press

On-Going

Reviewer for multiple national and international conferences, includ-ing:

• ASME International Design Engineering Technical Conferences (IDETC)

• IEEE International Conference on Robotics and Automation (ICRA)

• IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

On-Going

Updated: 2016/04/28 ! of !31 34


Reviewer for various grant applications, including: • NSERC (Discovery, I2I, Strategic Networks) • MITACS • CFI • Czech Science Foundation

On-Going

Session Chair at various national and international conferences On-GoingMember, Scientific Committee, 2nd International Conference on Mechanical Engineering and Mechatronics (ICMEM’13), August 8-10, 2013, Toronto, Canada

2012-2013

Associate Editor, Transactions of the Canadian Society for Mechani-cal Engineering

2012-Present

Communications Office, Executive Committee of the Canadian Committee for the Theory of Machines and Mechanisms (CCToMM)

2011-Present

Reviewer for the ASME Student Mechanism and Robot Design Competition

2009-2012

Member, Program Committee, 2010 IEEE/ASME International Con-ference on Mechatronic and Embedded Systems and Applications, July 15-17, 2010, Qingdao, ShanDong, China

2009-2010

Member, Political Action Network, Ontario Society of Professional Engineers

2006-2011

Financial Statements Auditor, Canadian Committee for the Theory of Machines and Mechanisms (CCToMM)

2006-2010

UOIT Faculty Student Advisor, American Society of Mechanical Engineers

2006-Present

UOIT Representative on the Durham Advanced Manufacturing Days Organizing Committee

2006/02

UOIT Faculty Student Advisor, Canadian Society for Mechanical Engineering

2005-Present

Student Representative, Executive Council of the Canadian Commit-tee for the Theory of Machines and Mechanisms

1999/06-2003/05

Web Site Coordinator for the 2003 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 30, 2003, Saint-Hubert (Montreal), Canada

2003

Volunteer, Canadian Hydrogen Association (CHA) 11th Canadian Hydrogen Conference, June 17-20, 2001, Victoria, Canada

2001

Web Site Coordinator for the 2001 CCToMM Symposium on Mech-anisms, Machines, and Mechatronics, June 1, 2001, Saint-Hubert (Montreal), Canada

2001

Facility Coordinator, Local Arrangements Committee for the Eighth International Conference on Mechanical Behaviour of Materials (ICM8), May 16 – 21, 1999, Victoria, Canada

1999

Graduate Student Coordinator, Local Arrangements Committee for the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’98), October 13-17, 1998, Victoria, Canada

1998

Updated: 2016/04/28 ! of !32 34


(iii) COMMUNITY SERVICE

• President, Durham Outdoors Club, 2013-Present

• Laboratory Tour for Grade 8 Students from Trinity College, April 23, 2015, Mechatronic and Robotic Systems Laboratory, UOIT

• Laboratory Tour for Children from the 21st Oshawa Beavers Group, December 5, 2011, Mechatronic and Robotic Systems Laboratory, UOIT

• Laboratory Tour for Children from the 21st Oshawa Beavers Group, March 1, 2010, Mechatronic and Robotic Systems Laboratory, UOIT

• Co-organizer, 2009 Annual UOIT Engineering Robotics Competition, UOIT

• Judge for the 6th Annual Student Research Showcase, August 20, 2009, UOIT

• Laboratory Tours for the UOIT Robotics Challenge Camp, Summer 2009, Mechatronic and Robotic Systems Laboratory, UOIT

• Co-organizer, 2008 Annual UOIT Engineering Robotics Competition, November 29, 2008, UOIT

• Laboratory Tours for the UOIT Inaugural Robotics Challenge Camp, Summer 2008, Mechatronic and Robotic Systems Laboratory, UOIT

• Robotics Demonstrations, OPG Robotics Day, May 16, 2008, Pickering Nuclear Information Centre, Pickering, Canada

• Laboratory Tour for Children from the Durham College Early Learning Centre, April 11, 2008, Mechatronic and Robotic Systems Laboratory, UOIT

• Co-organizer, 2007 Annual UOIT Engineering Robotics Competition, December 1, 2007, UOIT

• Co-organizer, 2006 Inaugural UOIT Engineering Robotics Competition, December 3, 2006, UOIT

• Member, Robert Anderson Memorial Campus Pipes and Drums, 2005-2011

• Parent Helper, 21st Oshawa Scouts, 2004-2010

• Judge, First Annual South Island Robot Competition: “Baskets of Trouble,” May 21, 2003, Department of Electrical and Computer Engineering Technology, School of Trades and Technology, Camosun College, Victoria, Canada

Updated: 2016/04/28 ! of !33 34


F. OTHER RELEVANT INFORMATION

• Led the development of the proposal for the PhD program in Mechanical Engineering. The PhD program in Mechanical Engineering was the first doctoral degree to be offered at UOIT.

• Led the development of the proposal for the MASc and MEng programs in Mechanical Engineering. The MASc and MEng programs in Mechanical Engineering were the first engineering master’s degrees to be of-fered at UOIT with the MASc program being UOIT’s first thesis-based master’s degree.

• Led the development of the proposal for the BEng in Mechatronics Engineering and BEngM in Mechatronics Engineering and Management.

• Featured on the Discovery Channel show Daily Planet discussing the Annual UOIT Engineering Robotics Competition, January 8, 2008.

Updated: 2016/04/28 ! of !34 34

Documents

A. GENERAL INFORMATION · 1996/09-1996/12 Junior Engineer (Co-op) BC Hydro ... Mechanical Engineering for the paper: ... 1999-Present Institute of Electrical and Electronics Engineers