M. Alba Pérez Gracia

March, 2019

Department of Mechanical Engineering

College of Science and Engineering,

Idaho State University

921 S. 8^th Ave, mail stop 8060

Pocatello, ID 83209

208 282 5655

perealba@isu.edu

http://www2.cose.isu.edu/~perealba/

Education

3/99 – 9/03 Ph. D. Mechanical Engineering, Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA.

9/97 – 3/99 Master of Science, Mechanical Engineering, Department of Mechanical and Aerospace Engineering, Univ. of California, Irvine, CA, USA.

9/86 – 1/97 Bachelor of Science, Industrial Engineering (BSIE 1996), specialized in Mechanical Engineering, ETSEIB, Universitat Politècnica de Catalunya, (BarcelonaTech), Barcelona, Spain.

Experience

08/17 – present Chair, ME Department; Assoc. Director of the Measurement and Control Engineering Research Center (MCERC) -- Department of Mechanical Engineering, College of Science and Engineering, Idaho State University.

06/16 – 08 / 17 On sabbatical leave at the Instituto de Robotica i Informatica Industrial (IRII) of Barcelona, Spain, for the Academic Year 2016-2017.

08/13 – 06/16 Associate Chair and MS in ME Program Director -- Department of Mechanical Engineering, College of Science and Engineering, Idaho State University.

08/12 – present Associate Professor -- Department of Mechanical Engineering, College of Science and Engineering, Idaho State University.

08/11 – 08/12 Assistant Professor -- Department of Mechanical Engineering, College of Science and Engineering, Idaho State University.

11/08 – 08/11 Ramon y Cajal Researcher – Institut de Robòtica i Informàtica Industrial, UPC-CSIC, Barcelona, Spain.

07/04 – 12/08 Assistant Professor -- Department of Mechanical Engineering, College of Engineering, Idaho State University.

11/03 – 07/04 Postgraduate Researcher -- Robotics and Automation Laboratory, UCI: applied research in kinematic synthesis. Professor J. M. McCarthy.

3/97 – 8/97 Design Engineer -- MAI, United Technologies Automotive. Design of housings for electrical automotive components. Contact address: Ctra. Igualada, km 1,5 Pol. Industrial - P.O. Box 106, 43800 Valls (Spain).

12/96 – 3/97 Design Engineer -- Bitron Industrie España, S.A. Design of temperature and pressure sensors for appliances and automotive industry. Contact address: Bitron Industrie España, C/ Ifni, 24 30, 08930 Sant Adria del Besos, Barcelona (Spain).

1/94 – 6/96 Planning engineer -- Waste Agency, Departament de Medi Ambient, Catalonia, Spain. Development of the regional planning for the minimization, recycling and disposal of the industrial waste. Contact address: C/ Doctor Roux, 80, 08017 Barcelona (Spain).

Publications

Books and Book Chapters

1. Thomas, F. and Perez Gracia, A., editors, Computational Kinematics, Springer, 2013.

Refereed Journal Articles in International Publications

1. Heidari, O., Wolbrecht, E., Perez-Gracia, A. and Yihun, Y.,”A Task-based Design Methodology for Robotic Exoskeletons”, Journal of Rehabilitation and Assistive Technologies Engineering, vol. 5, November 2018.
2. Thomas, F. and Perez Gracia, A., “On Cayley’s Factorization of 4D Rotations and Applications”, Advances in Applied Clifford Algebras, 26(1), 2016.
3. Hassanzadeh, N. and Perez Gracia, A., “Dimensional Synthesis of Wristed Binary Hands”, Journal of Mechanisms and Robotics, 8(2), 021006, April 2016.
4. Yihun, Y., Bosworth, K. and Perez Gracia, A., “Link-based Performance Optimization of Spatial Mechanisms”, ASME Journal of Mechanical Design, 136(12):122303-122303-11, 2014.
5. Simo Serra, E. and Perez Gracia, A., “Kinematic Synthesis Using Tree Topologies”, Mechanism and Machine Theory, 72 C:94-113, February 2014.
6. Perez Gracia, A., “Synthesis of Spatial RPRP Closed Linkages for a Given Screw System”, ASME Journal of Mechanisms and Robotics, 3(2), 2011.
7. Sato, C., Martinez, R.G., Shields, M.S., Perez Gracia, A., and Schoen, M.P., “Behavior of Microbial Fuel Cell in a Startup Phase”, Int. Journal of Environmental Engineering, 1(1):36-51, 2009.
8. Lai, J.C.K., Schoen, M.P., Perez Gracia, A., Naidu, D.S., and Leung, S.W., “Prosthetic Devices: Challenges and Implications of Robotic Implants and Biological Interfaces”, Proc. of the Institution of Mechanical Engineers, Vol. 221, Part H: Journal of Engineering in Medicine, Special Issue on Micro and Nano Technologies in Medicine, 210:173-183. London, UK, 2007.
9. Perez Gracia, A. and McCarthy, J.M., ”The Kinematic Synthesis of Spatial Serial Chains Using Clifford Algebra Exponentials”, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 220(7): 953-968, 2006.
10. Perez, A. and McCarthy, J.M., “Clifford Algebra Exponentials and Planar Linkage Synthesis Equations”, ASME Journal of Mechanical Design, 127(5): 931-940, September 2005.
11. Perez, A. and McCarthy, J.M., “Geometric Design of RRP, RPR and PRR Serial Chains”, Mechanism and Machine Theory, 40(11):1294-1311, November 2005.
12. Perez, A. and McCarthy, J.M., “Dual Quaternion Synthesis of Constrained Robotic Systems”, ASME Journal of Mechanical Design, 126(3): 425-435, 2004.
13. Perez, A. and McCarthy, J.M., “Dimensional Synthesis of Bennett Linkages,” ASME Journal of Mechanical Design, 125(1): 98-104, March 2003.
14. Collins, C.L., McCarthy, J.M., Perez, A. and Su, H., “The Structure of an Extensible Java Applet for Spatial Linkage Synthesis,” ASME Journal of Computing and Information Science and Engineering, 2(1): 45-49, 2002.
15. Perez, A. and McCarthy, J.M., “Bennett’s Linkage and the Cylindroid,” Mechanism and Machine Theory, 37(11): 1245-1260, November 2002.

Refereed International, Peer-reviewed Conference Proceedings:

16. Heidari, O. and Perez-Gracia, A., “Virtual Reality Synthesis of Robotic Systems for Human Upper-limb and Hand Tasks”, IEEEVR Conference, Osaka, Japan, 2019.
17. Deemyad, T., Hassanzadeh, N. and Perez-Gracia, A., “Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes”, IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, September 11-13, 2018.
18. Heidari, O., Pourgharibshahi, V., Urfer, A. and Perez-Gracia, A., “A New Algorithm to Estimate Glenohumeral Joint Location Based on Scapula Rhythm”, 40^th Intl. Conf. of the IEEE Engineering and Medicine in Biology Society (EMBC 2018), Honolulu, HI, July 17-21, 2018.
19. Makhal, A., Thomas, F. and Perez-Gracia, A., “Grasping Unknown Objects in Clutter by Superquadric Representation”, IEEE International Conference on Robotic Computing, Laguna Hills, CA, USA, Jan 31-Feb 2, 2018.
20. Hassanzadeh, N. and Wegert, M. and Perez-Gracia, A., “Synthesis of Spatial 3R Chains with Configuration-Specific Twist System”, ASME IDETC/CIE conferences, 2017.
21. Thomas, F. and Perez-Gracia, A., “A New Insight into the Coupler Curves of the RCCC Four-Bar Linkage”, IFToMM Computational Kinematics conference, 2017.
22. Roylance, J. and Heidari, O. and Perez-Gracia, A. and Kendall, E., “Quantification of Upper-body Synergies: a Case Comparison for Stroke and non-Stroke Victims”, ASME IDETC, Charlotte, NC, August 2016.
23. Movassagh-Kaniki, R. and Hassanzadeh, N. and Makhal, A. and Perez-Gracia, A., “Design of a Multi-palm Robotic Hand for Assembly Tasks”, ASME IDETC, Charlotte, NC August 2016.
24. Hassanzadeh, N. and Movassagh-Khaniki, R. and Perez-Gracia, A., “Design of a Dexterous Hand for a Multi-Hand Task”, RoManSy, June, 2016.
25. Tamimi, A. and Perez-Gracia, A. and Pucheta, M., “Structural Synthesis of Hands for Grasping and Manipulation Tasks”, Advances in Robot Kinematics, June 2016.
26. Hassanzadeh, N. and Gosh, S. and Robson, N. and Perez-Gracia, A., “Velocity-field Tasks for In-hand Manipulative Synthesis”, Advances in Robot Kinematics, , June 2016.
27. Perez-Gracia, A. and Thomas, F., “Clifford Algebra Representation of Grasping and Manipulative Hand Actions for Kinematic Synthesis”, Applied Geometric Algebra in Computer Science and Engineering (AGACSE), Barcelona, July 2015.
28. Thomas, F. and Perez-Gracia, A., “On Cayley’s Factorization of 3D Rotations and Applications”, Applied Geometric Algebra in Computer Science and Engineering (AGACSE), Barcelona, July 2015.
29. Hassanzadeh, N., He, X. and Perez-Gracia, A., “A Design Implementation Process for Robotic Hand Synthesis”, ASME IDETC/CIE conferences, Boston, USA, August 2-4, 2015.
30. Perez-Gracia, A., “Dimensional Synthesis of One-Jointed Multi-Fingered Hands”, IFToMM Mechanism Design in Robotics conference, Aalborg, Denmark, June 2015.
31. Perez-Gracia, A., “Synthesis of Multi-fingered Robotic Hands”, 1^st PANACM Congress, Buenos Aires, Argentina, 27-29 April, 2015.
32. Makhal, A. and Perez-Gracia, A., “Solvable Multi-Fingered Hands for Exact Kinematic Synthesis”, Advances in Robot Kinematics, 2014.
33. Batbold, B., Yihun, Y., Wolper, J.S. and Perez-Gracia, A., “Exact Workspace Synthesis for RCCR Linkages”, 2013 Computational Kinematics Workshop, Barcelona, Spain, May 2013.
34. Yihun, Y., Bosworth, K. and Perez-Gracia, A., “Link-based performance optimization of spatial mechanisms”, ASME 2013 International Design Engineering Technical Conferences.
35. Yihun, Y., Rahman, M.S., and Perez-Gracia, A., “Design of an Exoskeleton as a Finger-Joint Angular Sensor”, 2012 IEEE EMBS Conference, San Diego, CA, August 28-September 1, 2012.
36. Yihun, Y., Miklos, R., Perez-Gracia, A., Reinkensmeyer, D.J., Denney, K. and Wolbrecht, E.T., “Single Degree-of-Freedom Exoskeleton Mechanism Design for Thumb Rehabilitation”, 2012 IEEE EMBS Conference, San Diego, CA, August 28-September 1, 2012.
37. Scott, K. and Perez-Gracia, A., “Design of a Prosthetic Hand with Remote Actuation”, 2012 IEEE EMBS Conference, San Diego, CA, August 28-September 1, 2012.
38. Simo-Serra, E., Perez-Gracia, A., Moon, H. and Robson, N., “Design of Multifingered Robotic Hands for Finite and Infinitesimal Tasks Using Kinematic Synthesis”, 2012 Advances in Robot Kinematics conference, Innsbruck, Austria, June 2012.
39. Simo-Serra, E., Moreno-Noguer, F., and Perez-Gracia, A., “Design of Non-anthropomorphic Robotic Hands for Anthropomorphic Tasks”, ASME International Design Engineering Technical Conferences, IDETC 2011, Washington DC, USA, August 29-31, 2011.
40. Wolbrecht, E.T., Reinkensmeyer, D.J., and Perez-Gracia, A., “Single Degree-of-Freedom Exoskeleton Mechanism Design for Finger Rehabilitation”, ICORR 2011: Int. Conference on Rehabilitation Robotics, Zurich, Switzerland, June 29-July 1, 2011.
41. Sands, D., Perez Gracia, A., McCormack, J., and Wolbrecht, E.T., “Design of a Scalable Mechanism for Finger Rehabilitation”, 15^th IASTED International Conference on Robotics and Applications, Cambridge, MA, USA, November 1-3, 2010.
42. Crawford, A.L., Molitor, J., Perez Gracia, A., and Chiu, S., “Design of a Robotic Hand and Simple EMG Input Controller with a Biologically-Inspired Parallel Actuation System for Prosthetic Applications”, 1st International Conference on Applied Bionics and Biomechanics (ICABB), Venice, Italy, October 14-16, 2010. (8 citations)
43. Perez Gracia, A., “Synthesis of Spatial RPRP Loops for a Given Screw System”, Proc. of the EuCoMeS, 3rd European Conference on Mechanism Science, Cluj-Napoca, Romania, September 14-18, 2010.
44. Crawford, A.L., and Perez Gracia, A., “Design of a Robotic Hand with a Biologically-Inspired Parallel Actuation System for Prosthetic Applications”, Proc. of the ASME 2010 International Design Engineering Technical Conferences (IDETC/CIE 2010), Montreal, Quebec, Canada, August 15-18, 2010.
45. Chen, C.-H., Naidu, D. S., Perez Gracia, A., and Schoen, M. P., “A hybrid adaptive control strategy for a smart prosthetic hand”, 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society Conference (IEEE EMBC’09), Minneapolis, Minnesota, USA, September, 2-6, pp. 5056-5059, 2009.
46. Chen, C-H., Naidu, D.S., Perez, A., and Schoen, M.P., “Fusion of Hard and Soft Control Techniques for Prosthetic Hand”, Proceedings of the IASTED International Conference on Intelligent Systems and Control (ISC 2008), Orlando, FL, USA, November 16-18, 2008.
47. Chen, C-H., Bosworth, K.W., Schoen, M.P., Bearden, S.E., Naidu, D.S., and Perez, A., “A Study of Particle Swarm Optimization on Leukocyte Adhesion Molecules and Control Strategies for Smart Prosthetic Hand”, IEEE Swarm Intelligence Symposium, St Louis, MO, September 21-23, 2008.
48. Knight, B.M., Schoen, M.P., and Perez Gracia, A., “Distributed Actuation and Shape Control of Ionic Polymer Metal Composites”, Proc. of IMECE, Int. Mechanical Engineering Congress and Exposition, Chicago, IL, November 2006.
49. Duraisamy, K., Perez Gracia, A. and Schoen, M.P., “Vision-Based Kinematic Synthesis of Hand Motion”, Proc. of IMECE, Int. Mechanical Engineering Congress and Exposition, Chicago, IL, November 2006.
50. Villa-Uriol, M.C., Perez Gracia, A. and Kuester, F., "Humanoid Synthesis Using Clifford Algebra", 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006.
51. Duraisamy, K., Isebor, O., Perez, A., Schoen, M.P. and Naidu, D.S., "Kinematic Synthesis for Smart Hand Prosthetics", BioRob 2006: 1st IEEE/RAS Int. Conf. on Biomedical Robotics and Biomechatronics, Pisa, Italy, February 20-22, 2006.
52. Soh, G.S., Perez Gracia, A. and McCarthy, J.M., "The Kinematic Synthesis of Mechanically Constrained Planar 3R Chains", Proc. of the EuCoMeS, 1st European Conference on Mechanism Science, Obergurgl, Austria, February 21-26, 2006.
53. Perez, A. and McCarthy, J.M., “Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials”, 2005 IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona.
54. Wolbrecht, E., Su, H.-J., Perez, A. and McCarthy, J.M. "Geometric Design Of Symmetric 3-RRS Constrained Parallel Platforms," ASME International Mechanical Engineering Congress and Exposition , Anaheim , CA , November 13-19, 2004. (9 citations)
55. Perez, A., Su, H.J. and McCarthy, J.M., “Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains”, 2004 ASME Design Engineering Technical Conferences, Salt Lake City, September 2004.
56. Villa-Uriol, M.C., Kuester, F., Bagherzadeh, N., Perez, A. and McCarthy, J.M., “Kinematic Synthesis of Avatar Skeletons from Visual Data”, Advances in Robot Kinematics, June 2004, J. Lenarcic and C. Galletti, eds., Kluwer Academic Publishing, 2004.
57. Perez, A. and McCarthy, J.M., “Dimensional Synthesis of CRR Serial Chains”, ASME Design Engineering Technical Conferences, Chicago, IL, September 2003.
58. Perez, A. and McCarthy, J.M., “Dimensional Synthesis of RPC Serial Robots”, International Conference on Advanced Robotics, ICAR 2003, Coimbra, Portugal, June 2003.
59. Perez, A. and McCarthy, J.M., “Dual Quaternion Synthesis of a Parallel 2-TPR Robot,” Proc. of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, October 3-4, 2002, Quebec City, Quebec, Canada.
60. Perez, A., McCarthy, J.M. and Bennett, B., “Dual Quaternion Synthesis of Constrained Robots,” Advances in Robot Kinematics, (J. Lenarcic and F. Thomas,eds.), pp. 443-452, Kluwer Academic Publ.,Netherlands, 2002.
61. Perez, A., and McCarthy, J.M., “Dimensional Synthesis of Bennett Linkages,” Proceedings of the ASME Design Engineering Technical Conferences, Baltimore, MD, Sept. 10-13, 2000.
62. Perez, A. and McCarthy, J.M., “Dimensional Synthesis of Spatial RR Robots,” Advances in Robot Kinematics, (J. Lenarcic and M.M. Stanisic, eds.), pp. 93-102, Kluwer Academic Publ., Netherlands, June 2000.

Presentations and Invited Seminars:

• Invited seminar, University of California Irvine, November 2018.
• Invited seminar, Department of Electrical Engineering and Department of Physics, ISU, The Design of Robotic Hands, October 2013 and December 2018.
• Invited seminar, Technical University of Catalonia (UPC), Barcelona, Spain, Challenges in the Design of Better Prosthetic Hands, February 2011.
• Invited seminar, Institut de Robotica i Informatica Industrial, Barcelona, Spain: Open Problems in Kinematic Synthesis, February 2009.
• Invited seminar, Mechanical Engineering Dept., Univ. of Utah: Kinematic Synthesis Using Clifford Algebras: Theory and Applications. Speaker: Alba Perez. October 2007.
• Tutorial, IEEE ICRA 2005 Conference: Robot Design Using Mechanism Synthesis Theory. Organizer: J.M. McCarthy. Speakers: J.M. McCarthy, Hai Jun Su, Alba Perez. April 2005.
• Tutorial, ASME DETC 2004 Conference: Robot Design Using Mechanism Synthesis Theory. Organizer: J.M. McCarthy. Speakers: J.M. McCarthy, Hai Jun Su, Alba Perez. September 2004.

Awards, Research Grants and Research Activity

Awards:

· 2008 Ramon y Cajal Fellowship from the Spanish Ministry of Science and Innovation. International competitive award for a 5-year fellowship to perform research in Spain.

· 1997 Balsells Fellowship. To pursue graduate studies at the University of California, Irvine.

Research Grants and Contracts:

• Idaho Global Entrepreneurial Mission (IGEM), 2018-2019: “ARPRI: Augmented Reality Platform for Robotic Systems Design and Interaction”. Funded amount: $215,606.

• National Science Foundation, 2014-2017: “Collaborative Research: ARWED: Augmented Perception for Upper-limb Rehabilitation”, Main Institution: Texas A&M, ISU PI: Alba Perez Gracia. Funded amount: $152,757.

• National Science Foundation, National Robotics Initiative, 2012-2016: “NRI Small: Collaborative Research: A Design Methodology for Multi-fingered Robotic Hands with Second-Order Constraints”, Main Institution: Idaho State University, PI: Alba Perez Gracia. Funded amount: $445,570. Additional supplemental funds for EU- USA collaboration under this grant: $47,794.

• Acciones Complementarias para Proyectos de Investigación Fundamental no Orientada 2011, Subprograma EXPLORA, Ministry of Science and Innovation 2011 (Spain), 2011-2012: “PRO-FACES: Programmable Surfaces”, PI: Federico Thomas, research team: Alba Perez Gracia and Carme Torras Genis. Funded amount: 52,000 euros.

• National Institute of Health, USA: Sub-contract from project: “Determinants of the Effectiveness of Robot-Assisted Hand Movement Training”, PI: David Reinkensmeyer, Univ. of California, Irvine; 1-year (2010-2011) agreement: Alba Pérez Gracia, UPC, and sub-award holder Eric Wolbrecht, Univ.of Idaho. Contract amount: $10,000.

• Subprograma de proyectos de investigación fundamental no orientada, Ministry of Science and Innovation 2010 (Spain), September 2010 – September 2012: “An Extension of Branch and Prune Techniques for the Synthesis and Analysis of Motion of Complex Robotic Systems”, PI: Lluís Ros Giralt, research team: Alba Perez Gracia and 9 more. Funded amount: 75,000 euros.

• US Army Medical Research and Materiel Command, June 2010 – June 2012: “Smart Prosthetic Hand Technology”. PI: D. Subbaram Naidu, co-PIs: Jim Lai, Solomon Leung, Marco P. Schoen, Alba Perez Gracia, Alex Urfer and Steve Chiu. Funded amount: $1,426,122.

• US Army Medical Research and Materiel Command, June 2007 – June 2009: “Smart Prosthetic Hand Technology”. PI: D. Subbaram Naidu, co-PIs: Jim Lai, Solomon Leung, Marco P. Schoen and Alba Perez Gracia. Funded amount: $842,000.

• CAES-LDRD, April 2007 – September 2008 : “Development of Microbial Fuel Cell, fueled by domestic, agricultural, and food processing wastewaters”, PI: Dr Chikashi Sato, co-PIs: Malcolm Shields, Marco Schoen, Alba Perez-Gracia

• NASA Idaho EPSCOR 2006-2007: “Tumbleweed Microrobots Using Electroactive Polymers”, PI: Marco P. Schoen, co-PI: Brian Williams, Alba Perez Gracia.

• ISU Faculty Research Committee Grant, May 2005 - May 2007, project: “Use of Robot Synthesis Theory for Characterization of Protein Kinematics”. PI: Alba Perez Gracia.

Graduate Research Directed

PhD Dissertations: 4 students graduated with PhD in Engineering and Applied Science.

• O. Heidari, ISU EAS PhD program, ongoing.
• T. Deemyad, ISU EAS PhD program, ongoing.
• S. Medasetti, ISU EAS PhD program, ongoing.
• A. Makhal, Autonomous Robotic Grasp Planning by Superellipsoid Representation, PhD Dissertation, ISU, April 2018.
• N. Hassanzadeh, Kinematic Synthesis Strategies for the Design of Robotic Hands, PhD Dissertation, ISU, April 2017.
• Y. Yihun, A Synthesis Methodology for the Design of Exoskeletons, PhD Dissertation, ISU, May 2014.
• A. Crawford, Design of a Novel Hierarchical Prosthetic Hand Actuation System, PhD Dissertation, ISU, April 2010.

Master’s Theses: 19 students graduated with MS in ME or MCE.

• Cenjiong Gao, Nusrat Farhin, current MS students.
• V. Pourgharibshahi, Error Analysis in Marker-Based Motion Capture Systems, April 2018.
• M. Chowdury, Mapping of Human Hand Actions using Motion Capture for Dexterous Robotic Telemanipulation, January 2018 .
• R. Movassagh, Design of Single, Multi-fingered Robotic Hands to Perform Bimanual Tasks, ISU, April 2017.
• K. Kalavapudi, ISU, January 2017.
• T. Deemyad, Design of a Five-fingered Underactuated Hand for Two-position Tasks, May 2016.
• J. Roylance, The Quantification of Upper-body Synergies: A Case Comparison for Stroke and Non-Stroke Victims, MS Thesis, ISU, May 2016.
• S. Sharif, Position Control Strategies of Barrett Hand, MS Thesis, ISU, May 2016.
• A. Tamimi, Enumeration, structural and dimensional synthesis of robotic hands: theory and implementation, MS Thesis, ISU, December 2015.
• X. He, The Robotic Hand Parts Database Design, MS Thesis, ISU, December 2015.
• Q. Khalid, Design of a Multi-fingered Robotic Gripper for Agricultural Tasks , MS Thesis, ISU, December 2014.
• A. Al-shankiti, “ A ROS-based Reconfigurable Controller for Robotic Manipulators”, Master’s Thesis, ISU, May 2014.
• K. Scott, “The Scott Hand – A Decoupled Solution to Robotic Prosthetics”, Master’s Thesis, ISU, July 2013.
• W. Lin, “Fingertips Tracking Force-feedback Control System”, Master’s Thesis, ISU, July 2013.
• Md S. Rahman, “3D Tracking and Pose Recovery of Human Finger Motion for Exoskeleton Design”, Master’s Thesis, ISU, May 2013.
• B. Batbold, Design of 1-dof Parallel Robots Using a Finite-Screw Description of their Workspace, Master’s Thesis, IRI, June 2012.
• D. Alder, Dynamic Simulation of a Human Hand for Prosthetic Applications, Master’s Thesis, ISU, February 2009.
• H. Ahsan, 3D Computer Vision System for Hand Joint Motion Calculation, Master’s Thesis, ISU, December 2008.
• K. Duraisamy, Kinematic Synthesis for Smart Hand Prostheses, Master’s Thesis, ISU, December, 2006.
• R. Isaak, A Study of Overconstrained Linkage Networks, Master’s Thesis, ISU, June, 2006.

International Visiting Scholars

· Fullbright Visiting professor: Dr Martin Alejo Pucheta, CONICET, Argentina: August to November 2012.

Teaching Experience (ISU)

Fall 2012, 2013 Mechanics of Materials: Theories of stresses and strains for ties, shafts, beams, columns and connectors. Determination of deflections and the investigation of indeterminate members. An introduction to design. College of Science and Engineering, Idaho State University.

Fall 2004-2008, 2011-2013, 2015, 2017, 2018 Kinematics and Dynamics of Machinery: Kinematic analysis and design of cams, gears, and linkages; velocity, acceleration and force analysis; kinematic synthesis; balancing; computer-aided analysis and synthesis. College of Science and Engineering, Idaho State University.

Fall 2004-2008 Measurement Systems Laboratory: Principles of measurement, standards and accuracy, detectors and transducers, digital data acquisition, signal conditioning systems and devices, statistical concepts in measurement, experimental investigation of engineering systems. College of Science and Engineering, Idaho State University.

Fall 2005, 2007, 2011, 2014 Robot Kinematics, Robotics and Automation: Graduate level courses that introduce the students to several mathematical tools for robot analysis and design: homogeneous matrices, Lie algebras and Clifford algebras. College of Science and Engineering, Idaho State University

Spring 2005-2007, 2014-2016 Machine Design: Design of mechanical components subject to static and fatigue loads. Design using screws, fasteners, springs, bearings, and welds. Computer-aided design using finite element methods. College of Science and Engineering, Idaho State University.

Spring 2005, 2006, 2008, 2012 – 2016, 2019 Mechatronics: Basic kinematics, sensors, actuators, measurements, electronics, microprocessors, programmable logic controllers, feedback control, robotics and intelligent manufacturing. College of Science and Engineering, Idaho State University.

Spring 2006 Statics: Concepts of force vectors and equilibrium with emphasis on free body diagrams. Trusses, beams, frames, centroids, fluid statics, and friction. College of Science and Engineering, Idaho State University.

Spring 2007, 2008 Symbolic Programming: Introduces symbolic programming language, with emphasis on algebraic, calculus, and linear algebraic manipulations and visualization, with engineering applications. College of Science and Engineering, Idaho State University.

Spring 2012, Fall 2013, Spring 2015 Advanced Kinematic Design: Graduate level course covering structural and dimensional design of articulated systems, with emphasis on the mathematical background. College of Science and Engineering, Idaho State University.

Spring 2013, 2014; Fall 2015 Robotic Grasping and Manipulation: Graduate-level course covering robot kinematics and dynamics, screw theory, multi-fingered grasping and manipulability of grasped objects. College of Science and Engineering, Idaho State University.

Fall 2014, 2015 Mechanical Systems Design: Application of engineering concepts and principles to the design of mechanical systems, including economic, environmental, sustainability, and societal considerations. College of Science and Engineering, Idaho State University.

Spring 2018 Introduction to Robotics: Undergraduate-level course on robotics: motion, forward and inverse kinematics, Jacobian, velocities and static forces, path planning, dynamics and control.

Professional Activities and Affiliations

Memberships

• Member of the American Society of Mechanical Engineers (ASME).
• Member of the Institute of Electrical and Electronic Engineers (IEEE).
• Member of the Society of Automotive Engineers (SAE).

Professional service in journals, conferences and panels

• Member of the Scientific Committee of the Advances in Robot Kinematics conferences (since 2016).
• Member of the Scientific Committee of the IFToMM MEDER conference (since 2015).
• Member of the Scientific Committee of the IFToMM ISEMMS (since 2017).
• Associate Editor, International Federation of Automatic Control (IFAC) Mechatronics journal (2010-2016).
• NSF ad-hoc reviewer (2014).
• Symposium chair (2015, 2016), and symposium co-organizer (2011 and 2014), ASME International Design Engineering Technical Conferences and Computers in Engineering Conferences (IDETC/CIE).
• Panelist, NSF National Robotics Initiative (June 2012, April 2013)
• Associate Editor, International Conference on Robotics and Automation (ICRA 2013, 2014, 2015, 2016, 2017).
• Conference co-chair, International Federation for the Theory of Machines and Mechanisms (IFToMM) Computational Kinematics Workshop (2013).
• Program Committee member, Robotic Science and Systems (RSS) conference, 2014, 2015.
• Reviewer, journals: Elsevier’s Mechanism and Machine Theory; ASME Journal of Mechanisms and Robotics; ASME Journal of Mechanical Design; IEEE Transactions on Robotics; Advances in Applied Clifford Algebras; Proc. of the Inst. of Mech. Eng., Part C: Journal of Mechanical Engineering Science; Int. Journal of Humanoid Robotics; Elsevier’s Robotics and Autonomous Systems; Springer’s Meccanica.

University Service Activities

• Dean Search Committee, 2017-2018.
• Associate Director of the Measurement and Control Engineering Research Center, 2017-present.
• Associate Chair and ME MS Graduate Program Director, Department of Mechanical Engineering, 2013-2016.
• Student International Olympiad in Mechanism and Machine Science (SIOMMS) mentor, 2016.
• Student Chapter Advisor, SAE, 2011-2015.
• General Education Requirements Committee, Idaho State University, 2007-2008.
• Research Coordinating Council, Idaho State University, 2006-2008.
• Campus Planning Council, Idaho State University, 2005-2008.
• University Library Committee, Idaho State University, 2004-2005.