Leila Notash PhD, P.Eng, FEC

Professor

Mechanical and Materials Engineering, Faculty
Phone: 613-533-6778
Fax: 613-533-6489
McLaughlin Hall, Room: 320



Expertise: Fault Tolerant Operation, Manipulator Kinematics, Mechatronics and Robotics
Leila Notash
Biography Research Teaching Publications Graduate Students
Dr. Leila Notash is a Professor in the Department of Mechanical and Materials Engineering at Queen's University, a Fellow of Engineers Canada and a licensed member of the Professional Engineers Ontario. Her research interests encompass design, kinematics, calibration, and implementation of serial and parallel manipulators; fault detection and fault-tolerant design and operation of manipulators; and mechatronics. 
 
Leila Notash was born and rasied in Tabriz, the capital of the East Azerbaijan province in Iran. She earned her Bachelor of Science degree in Mechanical Engineering from the Middle East Technical University, Ankara, Turkey, graduating as a High Honor Student and ranking 2nd out of 166 graduates. She then completed her Master of Applied Science in Mechanical Engineering at the University of Toronto, and received her PhD from the Department of Mechanical Engineering at the University of Victoria. Throughout her graduate studies, Dr. Notash received several prestigious awards, including the University of Toronto Open Fellowship, the University of Toronto International Differential Fee Waiver, and the Charles S. Humphrey Graduate Student Award from the University of Victoria. In recognition of her doctoral research, she was nominated by the University of Victoria for the 1996 NSERC Doctoral Prize in the Engineering category. 
 
From 1995 to 1996, Dr. Notash served as an Assistant Professor in the Department of Industrial & Manufacturing Systems Engineering, University of Windsor. In 1997, she joined the Department of Mechanical Engineering at Queen's University, Kingston, where she was an Associate Professor during 2001-2006.
  
Dr. Notash is highly active in teaching, research, and service to both the university and the broader professional community. She has taught a wide range of courses across various subjects, developing well-organized course notes and handouts. At the University of Windsor, she taught courses in database system analysis and design, material handling, manufacturing technology and processes, robot kinematics, and an introduction to mechatronics. At Queen’s University, she has taught courses on mechatronics, dynamics, and robotics at both introductory and advanced levels.  
 
From 1998 to 2000, Dr. Notash was one of the three organizers of the Reading Week shop course, Design Basics 1.0, alongside Professor John McGeachy and Dr. John Garner. The objective of this hands-on course was to provide students with practical experience in machining, welding, and hot metal forging. With support from all co-organizers and the technical staff of the machine shop, the course became a tremendous success and received widespread praise from students. Although primarily designed for first-year Applied Science (Engineering) students, upper-year and graduate students also participated.
 
From 1997 to 2003, Dr. Notash served as the Canadian coordinator for the International Undergraduate Student Design project (IVDS), a collaborative initiative between the Mechanical and Electrical Engineering Departments at the Middle East Technical University (Ankara, Turkey), Union College (Schenectady, NY), and the Mechanical Engineering Department at Queen’s University. IVDS provided a collaborative design experience for students across different international locations, and over the years, students from Queen’s University’s Applied Mathematics (Mechanical Option) and Electrical Engineering Departments also participated.  
 
Dr. Notash has made significant contributions to departmental and university committees. She served as the Faculty Advisor for 161 undergraduate students in Queen’s University's Mechanical and Materials Engineering program (Mech '06) from 2003 to 2006. Additionally, she has served as a Faculty Senator in the University Senate at Queen’s University across multiple terms: 2009–2012, 2013–2016, 2016–2019, 2019–2022, and 2022–2025.  
 
From 1998 to 2004, Dr. Notash was a member of the executive council of the Canadian Committee for the Promotion of Mechanism and Machine Science (CCToMM), the Canadian member organization of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM). In this role, she served as Communications Officer, Editor of the CCToMM Newsletter, and Manager of the CCToMM website. Dr. Notash also contributed to the IFToMM Permanent Commission on Communications from 2001 to 2015, holding the positions of Editor of the IFToMM Newsletter, Chair of the Commission (2006–2011), and member of the Constitution Committee (2012–2015).
 
Dr. Notash served on the Editorial Board of Transactions of the Canadian Society for Mechanical Engineering (CSME) from 1999 to 2017. She was Associate Editor for the ASME Journal of Mechanisms and Robotics (JMR) from 2014 to 2017 and again from 2017 to 2020. Additionally, she served as a Guest Associate Editor for ASME JMR Special Issues on Selected Papers from IDETC 2020 and 2021 (2020–2021 and 2021–2022). Since 2012, she has been an Associate Editor for Mechanism and Machine Theory and, since 2022, for the ASME Journal of Mechanical Design.

Dr. Notash was an active member of the Academic Review Committee (ARC) for Professional Engineers Ontario (PEO) from 2003 to 2022, serving as Vice-Chair in 2015 and Chair from 2016 to 2018. During this time, she also served as a PEO Program Visitor for the Automotive & Vehicle Engineering Technology Program at McMaster University in 2018. Additionally, she acted as a Mechanical Engineering Program Visitor for the Canadian Engineering Accreditation Board (CEAB) in 2015 and was a member of the Mechanical Engineering Syllabus Sub-Committee of the Canadian Engineering Qualifications Board (CEQB) from 2006 to 2007. Dr. Notash has also served on the PEO Council (Board of Directors) as a Councillor-at-Large during the terms 2019–2021, 2021–2023, and 2023–2025. During these terms, she held the position of Vice-President Appointed (2019–2020) and contributed to several key governance committees, including the Regulatory Policy and Legislation Committee, Legislation Committee, Audit Committee, and Executive Committee.
 
Dr. Notash is an active member of several professional organizations, including the American Society of Mechanical Engineers (ASME), the Robotics and Mechatronics Technical Committee of IFToMM, and the Ontario Society of Professional Engineers (OSPE). She served as a Program Co-Chair for the ASME Mechanisms and Robotics (MR) Conference during the ASME IDETC/CIE in 2020 (44th MR) and 2021 (45th MR). Additionally, Dr. Notash organized the MR-2: Theoretical and Computational Kinematics symposium at the Mechanisms and Robotics Conference for ASME IDETC/CIE in 2017, 2018, and 2019. She has also contributed to the Scientific Committees of several conferences, including the International Conferences on Cable-Driven Parallel Robots (CableCon) and the IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR). 
Areas of Research 
  • Robotics 
  • Parallel Manipulators 
  • Failure Recovery and Fault Tolerant Operation 
Current research interest is the investigation and development of serial, parallel and wire-actuated manipulator designs; kinematic, stiffness and force solutions; and calibration methodologies allowing effective and failure safe implementation of the devices; and robotics. Specifically, studying the failure safe operation of parallel manipulators; consideration of potential use of redundancy in the design of parallel manipulators; development of techniques and solutions for the sensor and actuator fault detection and for the fault tolerant design and operation of parallel manipulators; and investigation of device geometric uncertainties and its calibration.

Courses 

 Journals 
  • Tang, H., and Notash, L., Neural Network Based Transfer Learning for Robot Path Generation, ASME Journal of Mechanisms and Robotics, 2022 (DOI: 10.1115/1.4054272). 
  • Chawla, I, Pathak, P.M., Notash, L., Samantaray, A.K., Li, Q. and Sharma, U.K., Workspace Analysis and Design of Large-Scale Cable-Driven Printing Robot Considering Cable Mass and Mobile Platform Orientation, Mechanism and Machine Theory, 2021 (DOI: 10.1016/j.mechmachtheory.2021.104426). 
  • Tang, H., and Notash, L., Neural Network Based Transfer Learning of Manipulator Inverse Displacement Analysis, ASME Journal of Mechanisms and Robotics, 2021 (DOI: 10.1115/1.4050622). 
  • Chawla, I, Pathak, P.M., Notash, L., Samantaray, A.K., Li, Q. and Sharma, U.K.,  Effect of Selection Criterion on the Kineto-Static Solution of a Redundant Cable-Driven Parallel Robot Considering Cable Mass and Elasticity, Mechanism and Machine Theory, 2021 (DOI: 10.1016/j.mechmachtheory.2020.104175). 
  • Notash, L., Deflection Maps of Planar Elastic Catenary Cable-Driven Robots, ASME Journal of Mechanisms and Robotics, 2020  (DOI: 10.1115/1.4045935). 
  • Notash, L., On the Solutions of Interval Systems for Under-Constrained and Redundant Parallel Manipulators, ASME Journal of Mechanisms and Robotics, 9(6):061009, 2017  (DOI: 10.1115/1.4037803). 
  • Notash, L., Wrench Accuracy for Parallel Manipulators and Interval Dependency, ASME Journal of Mechanisms and Robotics, 9(1):011008, 2017 (DOI: 10.1115/1.4035221). 
  • Notash, L., On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators, ASME Journal of Mechanisms and Robotics, 8(4):044506, 2016 (DOI: 10.1115/1.4032593).  
  • Nazari, V., and Notash, L., Failure Recovery of Manipulators under Joint Velocity Limits using Constrained Optimization and Partitioned Jacobian Matrix, Mechanism and Machine Theory,  99:58-71, 2016 (DOI: 10.1016/j.mechmachtheory.2015.12.013).  
  • Nazari, V., and Notash, L., Motion Analysis of Manipulators with Uncertainty in Kinematic Parameters, ASME Journal of Mechanisms and Robotics, 8(2):021014, 2016 (DOI: 10.1115/1.4031657).  
  • Nazari, V., and Notash, L., Workspace of Wire-Actuated Parallel Manipulators and Variations in Design Parameters, Trans. Can. Soc. Mech. Eng., 37(2):215-229, 2013. 
  • Nazari, V., and Notash, L., Motion Recovery of Parallel Manipulators Using Generalized Inverse and Partitioned Jacobian Matrix, Ro. J. Tech. Sci. - Appl. Mech., Vol. 58, No 1-2, Special Issues "New Trends in Advanced Robotics" (Pisla, D.and Husty, M.,Eds.), 2013. 
  • Notash, L., Failure Recovery for Wrench Capability of Wire-Actuated Parallel Manipulators, Robotica, 30(6):941-950, 2012 (DOI:10.1017/S0263574711001160). 
  • Notash, L., Moradi, A., Optimum Layouts for Wire-Actuated Parallel Manipulators Considering Their Stiffness Characteristics and Wire Failure, Can. Soc. Mech. Eng., 36(2):195-205, 2012. 
  • Notash, L., Motion Recovery after Joint Failure in Parallel Manipulators, special edition of the Trans. Can. Soc. Mech. Eng., 35(4):559-571, 2011. 
  • Notash, L., A Methodology for Actuator Failure Recovery in Parallel Manipulators, Mechanism and Machine Theory, 46(4):454-465, 2011 (DOI:10.1016/j.mechmachtheory.2010.11.017). 
  • McColl, D., and Notash, L., Workspace Formulation of Planar Wire-Actuated Parallel Manipulators, Robotica, 29(4):607-617, 2011 (DOI:10.1017/S0263574710000469). 
  • Zeinali, M., and Notash, L., Fuzzy Logic-Based Inverse Dynamic Modelling of Robot Manipulators, Trans. Can. Soc. Mech. Eng., 34(1):137-150, 2010. 
  • Zeinali, M., and Notash, L., Adaptive Sliding Mode Control with Uncertainty Estimator for Robot Manipulators, Mechanism and Machine Theory, 45(1):80-90, 2010. 
  • McColl, D., and Notash, L., Workspace Envelope Formulation of Planar Wire-Actuated Parallel Manipulators, special edition of the Trans. Can. Soc. Mech. Eng., 33(4):547-560, 2009. 
  • Agahi, M ., and Notash, L., Redundancy Resolution of Wire-Actuated Parallel Manipulators, special edition of the Trans. Can. Soc. Mech. Eng., 33(4):561-575, 2009. 
  • Horne, A., and Notash, L., Pose Selection for the Kinematic Calibration of a Prototyped 4 Degrees of Freedom Manipulator, special edition of the Trans. Can. Soc. Mech. Eng., 33(4):619-632, 2009. 
  • Notash, L., Horne, A., and Lee, V., Experimental Calibration of a Constraining Linkage of a 4 Degrees of Freedom Parallel Manipulator, special edition of the Trans. Can. Soc. Mech. Eng., 31(4):509-518, 2007. 
  • Sahin, S., and Notash, L., Kinematic Modelling and Analysis of a Wire-Actuated Parallel Manipulator, special edition of the Trans. Can. Soc. Mech. Eng., 31(4):495-507, 2007. 
  • Hassan, M., and Notash, L., Optimizing Fault Tolerance to Joint Jam in the Design of Parallel Robot Manipulators, Mechanism and Machine Theory, 42(10):1401-1417, 2007. 
  • Notash, L., and Kamalzadeh, A., Inverse Dynamics of Wire-Actuated Parallel Manipulators with a Constraining Linkage, Mechanism and Machine Theory, 42(9):1103-1118, 2007. 
  • Varziri, S., and Notash, L., Kinematic Calibration of a Wire-Actuated Parallel Robot, Mechanism and Machine Theory, 42(8):960-976, 2007. 
  • Sahin, S., and Notash, L., Static Force Analysis of Mechanisms with Four-bar Linkages Based on Flexibility Conditions, special edition of the Transactions of the Canadian Society for Mechanical Engineering, 29(4):605-616, 2005. 
  • Zeinali, M., and Notash, L., Systematic Adaptive Fuzzy Logic Modelling of Complex Systems from Input-Output Data, special edition of the Transactions of the Canadian Society for Mechanical Engineering, 29(4):569-580, 2005. 
  • Hassan, M., and Notash, L., Design Modification of Parallel Manipulators for Optimum Fault Tolerance to Joint Jam, Mechanism and Machine Theory, 40(5):559-577, 2005. 
  • Mroz, G., and Notash, L., Design and Prototype of Parallel, Wire-Actuated Robots with a Constraining Linkage, J. Robotic Systems, 21(12):677-687, 2004 (DOI: 10.1002/rob.20044). 
  • Hassan, M., and Notash, L., Analysis of Active Joint Failure in Parallel Robot Manipulators, ASME J. Mechanical Design, 126(6):959-968, 2004 (DOI: 10.1115/1.179807). 
  • Zeinali, M., and Notash, L., Robust Adaptive Neural Fuzzy Controller with Model Uncertainty Estimator for Manipulators, special edition of the Transactions of the Canadian Society for Mechanical Engineering, 28(2A):197-219, 2004. 
  • Hassan, M., and Notash, L., Reduced Motion of Parallel Robot Manipulators due to Active Joint Jam, special edition of the Transactions of the Canadian Society for Mechanical Engineering, 28(2A):165-184, 2004. 
  • Joardar, C., and Notash, L., CAD Data Extraction: An Application in Camera View Modelling, special edition of the Transactions of the Canadian Society for Mechanical Engineering, 28(2A):153-163, 2004. 
  • Lemay, J., and Notash, L., Configuration Engine for Architecture Planning of Modular Parallel Robots, Mechanism and Machine Theory, 39(1):101-117, 2004. 
  • Notash, L., and Garriock, M., International Virtual Design Studio (IVDS) Program: Overview, Challenges, Students' Perspectives, IEEE Transactions on Education, 46(3):345-349, 2003. 
  • Notash, L., and Huang, L., On the Design of Fault Tolerant Parallel Manipulators, Mechanism and Machine Theory, 38(1):85-101, 2003. 
  • Kossowski, C., and Notash, L., CAT4 (Cable Actuated Truss - 4 Degrees of Freedom): A Novel 4 DOF Cable Actuated Parallel Manipulator, J. Robotic Systems, 19(12):605-615, 2002. 
  • Kossowski, C., and Notash, L., A Survey of Technical Issues in Space Robotics, Transactions of the Canadian Society for Mechanical Engineering, 25(2):147-161, 2001. 
  • Notash, L., Joint Sensor Fault Detection for Fault Tolerant Parallel Manipulators, J. Robotic Systems, 17(3):149-157, 2000. 
  • Erden, A., Erkmen A., Erkmen I., Bucinell, R., Traver, C., and Notash, L., The Multidisciplinary International Virtual Design Studio (MIVDS), IEEE Transactions on Education, 43(3):288-295, 2000. 
  • Notash, L., Uncertainty Configurations of Parallel Manipulators, Mechanism and Machine Theory, 33(1/2):123-138, 1998. 
  • Notash, L., and Podhorodeski, R.P., Fixtureless Calibration of Parallel Manipulators, Transactions of the Canadian Society for Mechanical Engineering, 21(3):273-294, 1997. 
  • Notash, L., and Podhorodeski, R.P., Forward Displacement Analysis and Uncertainty Configurations of Parallel Manipulators with a Redundant Branch, J. Robotic Systems, 13(9):587-601, 1996. 
  • Notash, L., and Podhorodeski, R.P., On the Forward Displacement Problem of Three-Branch Parallel Manipulators, Mechanism and Machine Theory, 30(3):391-404, 1995. 
  • Notash, L., and Podhorodeski, R.P., Complete Forward Displacement Solution for a Class of Three-Branch Parallel Manipulators, J. Robotic Systems, 11(6):471-485, 1994. 
  • Mills, Notash, L., and Fenton, R.G., Optimal Design and Sensitivity Analysis of Flexible Cam Mechanisms, Mechanism and Machine Theory, 28(4):563-581, 1993.
Book Chapters 
  • Notash, L., Manipulator Deflection for Optimum Tension of Cable-Driven Robots with Parameter Variations, In: Gosselin C., Cardou P., Bruckmann T., Pott A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. pp. 26-36, Springer, Cham, 2017 (DOI: 10.1007/978-3-319-61431-1_3). 
  • Notash, L., Impact of Perturbation on Wire Tension Vector, Advances in Robot Kinematics, Lenarcic, J. and Khatib, O. (Eds.), Springer,  pages 41-49, 2014 (DOI: 10.1007/978-3-319-06698-1_5). 
  • Notash, L., On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators, Computational Kinematics, Thomas, F. and Perez Gracia, A. (Eds.), Springer, pages 1-9, 2014 (DOI:10.1007/978-94-007-7214-4_1). 
  • Notash, L., Designing Positive Tension for Wire-Actuated Parallel Manipulators, Advances in Mechanisms, Robotics and Design Education and Research, Kumar, V.; Schmiedeler, J.; Sreenivasan, S.V.; Su, H.-J. (Eds.), Springer, pages 251-263, 2013 (DOI:10.1007/978-3-319-00398-6_20). 
  • Notash, L., On the Twist Recovery Methodologies after Failure, Latest Advances in Robot Kinematics, Lenarcic, J. and Husty, M. (Eds.), Springer, pages 11-18, 2012 (DOI:10.1007/978-94-007-4620-6_2). 
  • McColl, D., and Notash, L., Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators, Computational Kinematics, Kecskeméthy, A. and A. Müller, A. (Eds.), Springer, pages 9-16, 2009 (DOI:10.1007/978-3-642-01947-0_2). 
  • Horne, A., and Notash, L., Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation, Computational Kinematics, Kecskeméthy, A. and A. Müller, A. (Eds.), Springer, pages 291-298, 2009 (DOI:10.1007/978-3-642-01947-0_36). 
  • Notash, L., and Moore, T.N., Fault Analysis in Mechatronic Systems, The Mechatronics Handbook, Bishop, R.H. (Ed.), CRC Press, 39-10, 2002 (second edition 2007). 
  • Notash, L., and Zhang, J., Structural Synthesis of Kinematic Chains and Mechanisms, Integrated Design and Manufacturing in Mechanical Engineering, P. Chedmail et al. (Eds.), Kluwer Academic, pp. 391-398, 2002.
 Conferences 
  • Notash, L., Artificial Neural Network Modelling of Cable Robots,  CISM-IFToMM Symp. Theory and Practice of Robots and Manipulators (RoManSy), 2022. 
  • Tang, H., and Notash, L., Neural Network Based Transfer Learning for Robot Path Generation, ASME Paper No. DETC2021-69006 (2021). 
  • Chawla, I, Pathak, P.M., Notash, L., Samantaray, A.K., Li, Q. and Sharma, U.K., Neural Network-Based Inverse Kineto-Static Analysis of Cable-Driven Parallel Robot Considering Cable Mass and Elasticity, 5th Int. Conf. on Cable-Driven Parallel Robots, pp. 50-62, Springer, Cham, 2021 (DOI:10.1007/978-3-030-75789-2_5). 
  • Tang, H., and Notash, L., Neural Network Based Transfer Learning of Manipulator Inverse Displacement Analysis, ASME Paper No. DETC2020-22508 (2020). 
  • Notash, L., Artificial Neural Network Prediction of Deflection Maps for Cable-Driven Robots, ASME Paper No. DETC2020-17859 (2020). 
  • Chawla, I, Pathak, P.M., Notash, L., Samantaray, A.K., Li, Q. and Sharma, U.K., Miniaturization of a Planar Cable-Driven 3D Printer using Optimization, MARSS2020.  
  • Notash, L., Deflection Maps of Elastic Catenary Cable-Driven Robots, ASME Paper No. DETC2019-79083 (2019) (DOI:10.1115/DETC2019-79083).  
  • Notash, L., Antipodal Criteria for Workspace Characterization of Spatial Cable-Driven Robots, 4th Int. Conf. on Cable-Driven Parallel Robots, pp. 197-206, Springer, Cham, 2019 (DOI:10.1007/978-3-030-20751-9_17). 
  • Notash, L., and McColl, D., Workspace Investigation of Cable-Driven Robots with Non-Negligible Cable Mass and Antipodal Method, ASME Paper No. DETC2018-85300 (2018) (DOI:10.1115/DETC2018-85300). 
  • Notash, L., Solutions of Interval Systems for Under-Constrained and Redundant Parallel Manipulators, ASME Paper No. DETC2017- 67091 (2017)(DOI: 10.1115/DETC2017-67091). 
  • Notash, L., Investigation of Wrench Accuracy for Parallel Manipulators, ASME Paper No. DETC2016-59425 (2016) (DOI: 10.1115/DETC2016-59425). 
  • Notash, L., Analytical Methods for Solution Sets of Interval Wrench, ASME Paper No. DETC2015-47575 (2015). (DOI: 10.1115/DETC2015-47575). 
  • Nazari, V., and Notash, L., Parametric Method for Motion Analysis of Manipulators with Uncertainty in Kinematic Parameters, Proc. of 20th CISM-IFToMM Symp. Theory and Practice of Robots and Manipulators (RoManSy), 8 pages, Moscow, Russia, June 2014 (DOI:10.1007/978-3-319-07058-2_2).   
  • Notash, L., On the Perturbation of Jacobian Matrix of Manipulators, Proc. of 20th CISM-IFToMM Symp. Theory and Practice of Robots and Manipulators (RoManSy), 8 pages, Moscow, Russia, June 2014 (DOI:10.1007/978-3-319-07058-2_8). 
  • Nazari, V., and Notash, L., Motion Analysis of Parallel Manipulators with Uncertainty in Kinematic Parameters, Proc. CSME International Congress, Toronto, Canada, 2014. 
  • Notash, L., On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators, Proc. of 6th Int. Workshop on Computational Kinematics, Barcelona, Spain, 8 pages, May 2013. 
  • Nazari, V., and Notash, L. Motion Recovery of Parallel Manipulators Using Task-Decomposition Approach, Proc. of Int. Conference on Intelligent Robotics and Applications (ICIRA), pp. 226-235, Montreal, Canada, October 2012. 
  • Notash, L., On the Twist Recovery Methodologies after Failure, Proc. of Advances in Robot Kinematics, Innsbruck, Austria, 8 pages, June 2012. 
  • Nazari, V., and Notash, L., Wrench Recovery of Parallel Manipulators for Full Retrieval of Subtasks, Proc. of 19th CISM-IFToMM Symp. Robot Design, Dynamics, and Control (RoManSy), 8 pages, Paris, France, June 2012. 
  • Notash, L., Wrench Recovery for Wire-Actuated Parallel Manipulators, Proc. of 19th CISM-IFToMM Symp. Robot Design, Dynamics, and Control (RoManSy), 8 pages, Paris, France, June 2012 (DOI: 10.1007/978-3-7091-1379-0_25). 
  • Notash, L., Failure Recovery for Wrench Capability of Wire-Actuated Parallel Manipulators, Proc. of 13th World Congress in Mechanism and Machine Science, 10 pages, Guanajuato, Mexico, June 2011. 
  • Nazari, V., and Notash, L., Effect of Variations in Design Parameters on the Workspace of Wire-actuated Parallel Manipulators, Proc. of 13th World Congress in Mechanism and Machine Science, 10 pages, Guanajuato, Mexico, June 2011. 
  • Moradi, A., and Notash, L., Optimum Strategies for Retrieving Lost Stiffness of Planar Wire-Actuated Parallel Manipulators after Failure, Proc. of 13th World Congress in Mechanism and Machine Science, 9 pages, Guanajuato, Mexico, June 2011. 
  • Agahi, M., and Notash, L., Investigation of Force Capability in Wire-Actuated Parallel Manipulators for Wire Failure, Proc. of 13th World Congress in Mechanism and Machine Science, 10 pages, Guanajuato, Mexico, June 2011. 
  • Notash, L., Motion Recovery after Joint Failure in Parallel Manipulators, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, Montreal, Canada, 12 pages, June 2011. 
  • Nazari, V., and Notash, L., Workspace Investigation of Translational Planar Wire-actuated Parallel Manipulators, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, Montreal, Canada, 11 pages, June 2011. 
  • Moradi, A., and Notash, L., Optimizing Layout of a Planar Wire-Actuated Parallel Manipulator Based on Stiffness and Failure Analysis, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, Montreal, Canada, 12 pages, June 2011. 
  • Agahi, M., and Notash, L., Redundancy Resolution of Wire-Actuated Parallel Manipulators Considering Contact Forces in Machining Applications, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, Montreal, Canada, 12 pages, June 2011. 
  • Agahi, M., and Notash, L., Trajectory Planning and Impact Reduction in Wire-Actuated Parallel Manipulators with Elastic Wires, Proc. of ASME 34th Annual Mechanisms and Robotics Conference (IDETC/CIE 2010) , Montreal, Canada, 10 pages, 2010 (DOI: 10.1115/DETC2010-28366). 
  • Moradi, A., and Notash, L., Investigation of Wire Failure Effect on Stiffness Maps of Planar Wire-Actuated Parallel Manipulators, Proc. of ASME 34th Annual Mechanisms and Robotics Conference (IDETC/CIE 2010) , Montreal, Canada, 8 pages, 2010 (DOI:10.1115/DETC2010-28374). 
  • Notash, L., and McColl, D., Workspace Investigation of Wire-Actuated Parallel Manipulators with Uncertainties in Wire Connections, Proc. of ASME 34th Annual Mechanisms and Robotics Conference (IDETC/CIE 2010) , Montreal, Canada, 10 pages, 2010 (DOI: 10.1115/DETC2010-28228). 
  • McColl, D., and Notash, L., Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method, Proc. of 18th CISM-IFToMM Symp. Robot Design, Dynamics, and Control (RoManSy), Udine, Italy, 8 pages, July 2010 (DOI: 0.1007/978-3-7091-0277-0_34). 
  • Agahi, M., and Notash, L., Multi-Objective Trajectory Planning in Wire-Actuated Parallel Manipulators, Proc. of 18th CISM-IFToMM Symp. Robot Design, Dynamics, and Control (RoManSy), Udine, Italy, 8 pages, July 2010. 
  • Notash, L., A Failure Recovery Methodology for Wire-Actuated Parallel Manipulators, Proc. of CSME Forum,Victoria, Canada, 8 pages, June 2010. 
  • Moradi, A., and Notash, L., Stiffness Maps of Planar Wire-Actuated Parallel Manipulators, Proc. of CSME Forum, Victoria, Canada, 8 pages, June 2010. 
  • McColl, D., and Notash, L., Workspace Envelope Formulation of Planar Wire-Actuated Parallel Manipulators, Proc. of 5th CCToMM Symp. Mech., Mach., and Mechatronics, Quebec City, Canada, 12 pages, May 2009. 
  • Horne, A., and Notash, L., Pose Selection for the Kinematic Calibration of a Prototyped 4 Degrees of Freedom Manipulator, Proc. of 5th CCToMM Symp. Mech., Mach., and Mechatronics, Quebec City, Canada, 12 pages, May 2009. 
  • Agahi, M ., and Notash, L., Redundancy Resolution of Wire-Actuated Parallel Manipulators, Proc. of 5th CCToMM Symp. Mech., Mach., and Mechatronics, Quebec City, Canada, 12 pages, May 2009. 
  • Zeinali, M., and Notash, L., Fuzzy Logic-Based Inverse Dynamic Modelling of Robot Manipulators, Proc. of 5th CCToMM Symp. Mech., Mach., and Mechatronics, Quebec City, Canada, 12 pages, May 2009. 
  • McColl, D., and Notash, L., Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators, Proc. of 5th IFToMM Int. Workshop on Computational Kinematics, Duisburg, Germany, 8 pages, May 2009. 
  • Horne, A., and Notash, L., Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation, Proc. of 5th IFToMM Int. Workshop on Computational Kinematics, Duisburg, Germany, 8 pages, May 2009. 
  • McColl, D., and Notash, L., Configuration and Workspace Analysis of Planar Wire-Actuated Parallel Manipulators , Proc. of 17th CISM-IFToMM Symp. Robot Design, Dynamics, and Control (RoManSy), Tokyo, Japan, 8 pages, July 2008. 
  • Horne, A., and Notash, L., Parameter Selection for the Calibration of a 4 Degrees of Freedom Manipulator , Proc. of CSME Forum, 7 pages, Ottawa, Canada, June 2008. 
  • McColl, D., and Notash, L., Workspace Analysis of Planar Wire-Actuated Parallel Manipulators Using Antipodal Grasp Theorem , Proc. of CSME Forum, 6 pages, Ottawa, Canada, June 2008. 
  • Sahin, S., and Notash, L., Force and Stiffness Analyses of Wire-Actuated Parallel Manipulators, Proc. of 12th World Congress in Mechanism and Machine Science, 6 pages, Besanson, France, June 2007. 
  • Zeinali, M., and Notash, L., Fuzzy Logic-Based Adaptive Robust Control for Parallel Manipulators, Proc. of 12th World Congress in Mechanism and Machine Science, 6 pages, Besanson, France, June 2007. 
  • Notash, L., Lee, V., and Horne, A., Experimental Verification for Calibration of the Constraining Linkage of a 4 Degrees of Freedom Manipulator, Proc. of 4th CCToMM Symp. Mech., Mach., and Mechatronics, 10 pages, Canadian Space Agency, Montreal, Canada, May 2007. 
  • Sahin, S., and Notash, L., Kinematic Modelling and Analysis of a Wire-Actuated Parallel Manipulator, Proc. of 4th CCToMM Symp. Mech., Mach., and Mechatronics, 12 pages, Canadian Space Agency, Montreal, Canada, May 2007. 
  • Sahin, S., and Notash, L., Stiffness Analysis of a Wire-Actuated Parallel Manipulator, Proc. of CSME Forum, Canada, 11 pages, 2006.  
  • Zeinali, M., and Notash, L., Chattering Free Sliding Mode Control Design Using Fuzzy Modelling and Implementation on Robot Manipulators, Proc. of CSME Forum, Canada, 12 pages, 2006. 
  • Hassan, M., and Notash, L., Mobility Analysis of Parallel Manipulators Based on Group Theory, Proc. of CSME Forum, Canada, 13 pages, 2006. 
  • Zeinali, M., and Notash, L., Systematic Adaptive Fuzzy Logic Modeling from Input-Output Data, Using an Improved Fuzzy c-Means Clustering Algorithm, Proc. of IEEE Conference on Control Applications, 6 pages, Toronto, Canada, August 2005. 
  • Sahin, S., and Notash, L., Static Force Analysis of Mechanisms with Four-bar Linkages Based on Flexibility Conditions, Proc. of 3rd CCToMM Symp. Mech., Mach., and Mechatronics, 12 pages, Canadian Space Agency, Montreal, Canada, May 2005. 
  • Zeinali, M., and Notash, L., Systematic Adaptive Fuzzy Logic Modelling of Dynamical Systems from Input-Output Data, Proc. of 3rd CCToMM Symp. Mech., Mach., and Mechatronics, 12 pages, Canadian Space Agency, Montreal, Canada, May 2005. 
  • Hassan, M., and Notash, L., Optimizing Fault Tolerance to Joint Jam in the Design of Parallel Robot Manipulators, Proc. of 3rd CCToMM Symp. Mech., Mach., and Mechatronics, 12 pages, Canadian Space Agency, Montreal, Canada, May 2005. 
  • Abu-Mallouh, M., and Notash, L., An Experimental Approach for Robot Kinematic Error Identification Using an Optical Tracking System, Proc. of CSME Forum, 6 pages, London, Canada, 2004. 
  • Kamalzadeh, A., and Notash, L., Inverse Dynamic Modeling of a 4-DOF Wire-Actuated Parallel Manipulator with Redundancy in Actuation, Proc. of CSME Forum, 9 pages, London, Canada, 2004. 
  • Varziri, M.S., and Notash, L., Kinematic Calibration of the Central Linkage of a Wire-Actuated Parallel Robot, Proc. of CSME Forum, 12 pages, London, Canada, 2004. 
  • Hassan, M., and Notash, L., Modification of Parallel Manipulators for Optimum Fault Tolerance to Joint Jam, Proc. of CSME Forum, 11 pages, London, Canada, 2004. 
  • Sahin, S., and Notash, L., Review of Stiffness Analysis and Stability of Mechanisms, Proc. of CSME Forum, 8 pages, London, Canada, 2004. 
  • Zeinali, M., and Notash, L., New Approach to Design a Nonlinear Robust Adaptive Controller for Manipulators, Proc. of CSME Forum, 10 pages, London, Canada, 2004. 
  • Sahin, S., and Notash, L., Kinematics, Workspace and Stiffness Analysis of Wire-Actuated Parallel Manipulators, Proc. of 11th World Congress in Mechanism and Machine Science, 5 pages, Tianjin, China, 2004. 
  • Mroz, G., and Notash, L., Design and Prototype of a Parallel Wire-Actuated Robot, Proc. of 11th World Congress in Mechanism and Machine Science, 5 pages, Tianjin, China, 2004. 
  • Hassan, M., and Notash, L., Active Joint Failure Analysis of Parallel Manipulators, Proc. of 2nd CCToMM Symp. Mech., Mach., and Mechatronics, 22 pages, Canadian Space Agency, Montreal, Canada, May 2003. 
  • Zeinali, M., and Notash, L., Robust Adaptive Neural Fuzzy Controller Based on Computed Torque Control for Manipulators, Proc. of 2nd CCToMM Symp. Mech., Mach., and Mechatronics, 20 pages, Canadian Space Agency, Montreal, Canada, May 2003. 
  • Sahin, S., and Notash, L., Kinematic Analysis and Stiffness Mapping of Wire-Actuated Parallel Manipulators, Proc. of 2nd CCToMM Symp. Mech., Mach., and Mechatronics, 12 pages, Canadian Space Agency, Montreal, Canada, May 2003. 
  • Mroz, G., and Notash, L., Design and Prototype of Parallel Wire-Actuated Robots with a Constraining Linkage, Proc. of 2nd CCToMM Symp. Mech., Mach., and Mechatronics, 18 pages, Canadian Space Agency, Montreal, Canada, May 2003. 
  • Joardar, C., and Notash, L., CAD Data Extraction for Simulation: An Application in Camera View Modeling, Proc. of 2nd CCToMM Symp. Mech., Mach., and Mechatronics, 18 pages, Canadian Space Agency, Montreal, Canada, May 2003. 
  • Joardar, C., and Notash, L., CAD Based Robotics, Proc. of CSME Forum, 7 pages, Kingston, Canada, May 2002. 
  • Zou, H., and Notash, L., Kinematic Calibration of a Parallel Manipulator, Proc. of CSME Forum, 9 pages, Kingston, Canada, May 2002. 
  • Tang, W., and Notash, L., Vision-Assisted Robot Error Estimation, Proc. of CSME Forum, 10 pages, Kingston, Canada, May 2002. 
  • Lemay, J., and Notash, L., Architecture Planning for Modular Parallel Robot Assembly, Proc. of CSME - Multidisciplinary Design Engineering Conf., 13 pages, Montreal, Canada, November 2001. 
  • Kossowski, C., and Notash, L., Kinematic and Workspace Analyses of a Novel 4 DOF Wire Actuated Parallel Robot, Proc. of CSME - Multidisciplinary Design Engineering Conf., 12 pages, Montreal, Canada, November 2001. 
  • Garriock, M., and Notash, L., Review of International Virtual Design Studio Program, Proc. of 12th Canadian Conference on Engineering Education (C2E2), pp. 335-340, Victoria, Canada, August 2001. 
  • Kossowski, C., and Notash, L., A Novel Wire Actuated Parallel Robot with Space Applications, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, 2 pages, Canadian Space Agency, Montreal, Canada, June 2001. 
  • Lemay, J., and Notash, L., Configuration Engine for Modular Parallel Robot Assembly, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, 2 pages, Canadian Space Agency, Montreal,Canada, June 2001. 
  • Tang, W., and Notash, L., A Direct Servo Control Method for a SCARA Type Robot, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, 2 pages, Canadian Space Agency, Montreal, Canada, June 2001. 
  • Zou, H., and Notash, L., Discussions on the Camera-Aided Calibration of Parallel Manipulators, Proc. of CCToMM Symp. Mech., Mach., and Mechatronics, 2 pages, Canadian Space Agency, Montreal, Canada, June 2001. 
  • Zhang, J., Notash, L., and Wu, C., Structural Synthesis of Kinematic Chains and Mechanisms, Proc. of CSME Forum, 10 pages, Montreal, Canada, May 2000. 
  • Huang, L., Notash, L., and Gagnon, E., Failure Analysis of DEXTER Parallel Manipulator, Proc. of CSME Forum, 10 pages, Montreal, Canada, May 2000. 
  • Huang, L., and Notash, L., Failure Analysis of Parallel Manipulators, Proc. of 10th World Congress on the Theory of Machines and Mechanisms, Vol. 3, pp. 1027-1032, Oulu, Finland, June 1999. 
  • Notash, L., and Huang, L., Failure Modes of Manipulators, Proc. of 17th CANCAM Conf., pp. 327-328, Hamilton, Canada, May 1999. 
  • Huang, L., and Notash, L., Design of Parallel Manipulators for High Reliability and Minimal Failure Rate, Proc. of 17th CANCAM Conf., pp. 329-330, Hamilton, Canada, May 1999. 
  • Notash, L., Notes on the Fixtureless Calibration of Parallel Manipulators, Proc. of CSME Forum , Vol. 4, pp. 335-341, Toronto, Canada, May 1998. 
  • Notash, L., and Podhorodeski, R.P., Sensor Fault Detection Scheme for Fault Tolerance Operation of Parallel Manipulators, Proc. of IEEE Int. Conf. on Sys. Man and Cyber., pp. 2639-2644, Vancouver, Canada, October 1995. 
  • Notash, L., and Podhorodeski, R.P., Kinematic Calibration of Parallel Manipulators, Proc. of IEEE Int. Conf. on Sys. Man and Cyber., pp. 3310-3315, Vancouver, Canada, October 1995. 
  • Notash, L., and Podhorodeski, R.P., Kinematic Calibration of a Parallel Manipulator Based Hand Controller, Proc. of 15th CANCAM Conf., pp. 872-873, Victoria, Canada, May 1995. 
  • Notash, L., and Podhorodeski, R.P., Uncertainty Configurations of Three-Branch Parallel Manipulators - Identification and Elimination, Proc. of 23rd ASME Biennial Mechanisms Conf., DE-Vol. 72, pp. 459-466, Minneapolis, USA, September 1994. 
  • Notash, L., and Fenton, R.G., A Comparison of the Efficiency of the Various Representations of Rigid Body Displacements and their Applications in Robotics, Proc. of Int. Conf. on Engineering Applications of Mechanics, pp. 274-281,Tehran, Iran, 1992. 
  • Notash, L., Fenton, R.G., and Mills, Sensitivity Analysis of Systems Coefficients to Aid the Design of Cam Mechanisms, Proc. of 2nd National Applied Mechanisms and Robotics Conf., Vol. 1, IVA.6, Cincinnati, USA, 1991. 
  • Notash, L., Fenton, R.G., and Mills, Optimal Design of Flexible Cam Mechanisms, Proc. of 8th World Congress on the Theory of Machines and Mechanisms, pp. 695-698, Czechoslovakia, 1991. 
Technical Reports 
  • Huang, L., and Notash, L., Failure Analysis of Dexter Parallel Manipulator, Technical report to MD Robotics Ltd., 28 pages, October 1999. 
  • Podhorodeski, R.P., Notash, L., and Pittens, K., Kinematic Solutions for the ISE SPDM Testbed Manipulator - Reports 1 & 2, Technical reports to International Submarine Engineering Research, Ltd., 21 & 24 pages, December 1992 & January 1993. 

Nazari, V., PhD, Failure and Workspace Analysis of Parallel Robot Manipulators, 2014. 

Horne, A., MSc, Simulated and Experimental Kinematic Calibration of a 4 Degrees of Freedom Parallel Manipulator, 2012. 

McColl, D., MSc, Workspace Generation for Wire-Actuated Parallel Manipulators, 2009. 

Zeinali, M., PhD, Fuzzy Model-Based Adaptive Robust Control Design and Application to Robot Manipulators, 2007. 

Sahin, S., PhD, Kinematics, Force and Stiffness Analyses of Parallel Manipulators, 2006. 

Hassan, M., PhD, Failure Analysis and Fault Tolerance of Parallel Robot Manipulators, 2005. 

Varziri, M.S., MSc, Kinematic Calibration of a Wire-Actuated Parallel Robot, 2004. 

Kamalzadeh, A., MSc, Inverse Dynamics of Wire-Actuated Parallel Manipulators with a Constraining Linkage, 2004. 

Mroz, G., MSc, Design and Prototype of a Parallel, Wire-Actuated Robot, 2003. 

Joardar, C., MSc, CAD Data Extraction for Simulation: An Application in Camera View Modeling, 2003. 

Zou, H., MSc, Kinematic Calibration of Parallel Manipulators, 2002. 

Kossowski, C., MSc, A Novel Wire Driven Parallel Robot: Design, Analysis and Simulation of the CAT4, 2001. 

Lemay, J., MSc, Configuration Engine for Modular Parallel Robot Architectures, 2001. 

Tang, W., MSc, Vision-Assisted Robot Kinematic Error Estimation: Principle and Application, 2001. 

Zhang, J., MSc, Computerized Analysis and Synthesis Methodologies for Mechanism Design, 2000. 

Ho, P.-I, MSc, Vision-Assisted Manipulator Pose Estimation for Fault Tolerance Applications, 2000. 

Huang, L., MSc, Failure Analysis of Parallel Manipulators for Fault Tolerant Design, 1999. 

Hung, W., MSc, Parallel Robot Directory, 1999. 

Suri, V., MSc, A Study on Mobile Robots: with an Experimental Case Study, 1999. 

Montgomery, J., MSc, Kinematic Analysis of DEXTER, 1998. 

 



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