DANIEL C. ASMAR Assistant Professor
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DANIEL C. ASMAR
Assistant Professor
Mechanical Engineering Department
American University of Beirut
Riad El Solh, Beirut, Lebanon
961-1-350000 x3427
da20@aub.edu.lb
EDUCATION
2006 Doctor of Philosophy in Systems Design Engineering
University of Waterloo, Waterloo, Ontario, Canada.
Thesis: Vision SLAM using Natural Features in Large Scale Outdoor En-
vironments. My work consists of performing Simultaneous Lo-
calization and Mapping (SLAM) of robots in an outdoor park en-
vironment using natural features (trees) as landmarks for SLAM.
2002 Masters of Engineering in Mechanical Engineering
American University of Beirut, Beirut, Lebanon.
Thesis: A multi-grid comparative analysis of pressure-velocity coupling
algorithms for fluid flow at all speeds.
1993 Bachelor of Applied Science in Mechanical Engineering (First Class
Honors)
University of Waterloo, Waterloo, Ontario, Canada.
PROFESSIONAL EXPERIENCE
2006-Current American University of Beirut (AUB), Assistant Professor
Graduated 9 Masters students
Supervising 5 Masters students and 4 PhD students
Teaching several courses in the fields of Computer Vision, Mobile
robotics, Instrumentation, Mechanical Design, and Mechatronics
2007-Current Private Consulting
Consulted for National Instruments (NI) for the design of a mobile robot.
Consulted for YLE engineering for the design and implementation of
tensile and compression testing machines.
Consulted for the Qatar Foundation for the screening of technical pro-
posals for the scientific show entitled ’Stars of Science’.
— page 1 of 8 —Assessed the Mechatronics program a Dhofar University in Bahrain. The
job consisted in benchmarking their program to other recognized Mecha-
tronics programs and evaluating their proposed curriculum.
2004-2006 Lebanese American University (LAU), Lecturer
Lecturer for the “Kinematics and Dynamics of Linkages”course.
1996-2001 ACABRA SARL, Owner and General Manager
Renovated forteen old buildings in the downtown area of Beirut.
1994-1996 Carrosserie Abillama, Debaye, Lebanon
Designed and manufactured mechanical parts used in the construction of
heavy transport machinery.
1993-1994 Fullerton Sherwood Engineering, Mississauga, Ontario, Canada
Designed parts and accessories used in the construction of underwater
re-breathing apparatus for the Canadian Navy.
1988-1993 Five work-terms during my undergraduate studies at various institutions
namely: General Motors of Canada, Eastman Kodak, Kraft General
Foods, IMER Ltd., and EMIT Ltd.
PUBLICATIONS
BOOK CHAPTERS
1. D. C. Asmar, S. M. Abdallah, and J.S. Zelek, Vision SLAM maps: towards richer con-
tent, Design and Control of Intelligent Robotic Systems, Series: Studies in Computational
Intelligence, Volume 177, Chapter 21 Springer Berlin / HeidelBerg, January, 2009.
REFEREED JOURNAL PAPERS (students are superscripted with s)
1. Elie Shammas, and Daniel C. Asmar. Motion planning for an underactuated planer robot in
a viscous environment. Journal of Computational and Nonlinear Dynamics, (submitted)
2. Salah Bazzis , Elie Shammas, and Daniel C. Asmar. A Novel Method for Modeling Skid-
ding for Systems with Nonholonomic Constraints. Journal of Computational and Nonlinear
Dynamics, (submitted)
3. Bilal Wehbes , Elie Shammas, Daniel C. Asmar, and Joseph Zeaiter. Dynamic Modeling
of a Hybrid Autonomous Underwater Vehicle with a Three Dimensional Dubins-type Path
Planning. Journal of Ocean Engineering, (submitted)
— page 2 of 8 —4. Adel Fakih, Daniel C. Asmar, and John Zelek. Augmenting Analytic SFM Filters with
Frame-to-Frame Features. Computer Vision and Image Understanding (CVIU), (submitted)
5. Daniel C. Asmar, Karim Hassaniehs , Raja Oueisss , Hiam Khoury, and Imad ElHajj. Infras-
tructureless, Automated As-Built Map Generation for Verification in Construction. IEEE/ASME
Transactions on Mechatronics (TMECH), (accepted)
6. Raja Oueisss , Dima Chdids , Hiam Khoury, Daniel C. Asmar, and Imad Elhajj. Infrastruc-
tureless inspection process automation in construction,Volume 11, Number 2, Gerontechnol-
ogy, 2012
7. Daniel C. Asmar, Samir Shakers . Real-time occupancy-grid SLAM of structured indoor
environments using a single camera. International Journal of Mechatronics and Automation
(IJMA), Submitted 2011, printed April 2012
8. Daniel C. Asmar, Bassam Jalghas , Adel Fakih. Humanoid Fall Avoidance using a Mixture
of Strategies. In International Journal of Humanoid Robotics (IJHR),Volume 9, Number 1,
March, submitted 2010, printed 2012
9. Samir Shakers , J.J. Saade, and Daniel C. Asmar. Inference-based Person-Following Robot.
In International Journal of Systems Applications, Engineering and Developments, Vol 2,
Issue 1, pp. 29-34, 2008
10. L. E. Dent, D. C. Asmar, B. Jenkins, J. S. Zelek. Finding Order in Sense of Place with
Wearable Computing. Design Principles and practices: an International Journal. Volume
2, Issue 2, pp.173-180. May, 2008
11. Abdallah S., Asmar D., and Zelek J. , A Benchmark for Outdoor Vision SLAM Systems,
Journal of Field Robotics, Volume 24 (Issues 1-2). Pages 145-165. February 2007.
12. Zelek J., and Bromley S., and Asmar D., and Thompson D., A Haptic Glove as a Tactile-
Vision Sensory Substitution for Wayfinding, Journal of Visual Impairment & Blindness, Vol-
ume 97(10). Pages 621-633. October 2003.
13. M. Darwish. D. Asmar, and F. Moukalled, A Comparative Assessment within a Multi-Grid
Environment of Segregated Pressure-Based Algorithms for Fluid Flow at all Speeds, Numer-
ical Heat Transfer, Part B. Volume 45(1). Pages 49-74 January 2004.
REFEREED CONFERENCE PAPERS, (reviewed based on full-length papers)
1. Ali Muhieddines , Daniel C. Asmar, and Elie Shammas. Augmented Iterative Closest Point
for Motion Estimation. In Proceedings of the IEEE International Conference on Robotics
and Automation (ICRA), (submitted), 2013
2. Firas Abi Farrajs , Daniel C. Asmar, Elie Shammas, and Imad Elhajj. Non-Iterative Planar
Visual Odometry using a Monocular Camera. In Proceedings of the IEEE International
Conference on Advanced Robotics (ICAR),(submitted), 2013
— page 3 of 8 —3. Salah Bazzis , Elie Shammas, and Daniel C. Asmar Modeling and Analysis of Skidding and
Slipping Effects on the Steering of a Unicycle. In Proceedings of the IEEE International
Conference on Advanced Robotics (ICAR)(submitted) 2013
4. Chadi Mansours , Elie Shammas, Imad El Hajj, and Daniel C. Asmar. Dynamic Bandwidth
Management for Teleoperation of Collaborative Robots . In Proceedings of the IEEE Interna-
tional Conference on RObotics and BIOmimetics (ROBIO), Guangzhou, China, December
11-14, 2012
5. Bassam Jalghas , Daniel C. Asmar, Elie Shammas, and Imad Elhajj. Hierarchical fall avoid-
ance strategy for small-scale humanoid robots. In Proceedings of the IEEE International
Conference on RObotics and BIOmimetics (ROBIO), Guangzhou, China, December 11-14,
2012
6. Elie Shammas and Daniel C. Asmar. Kinematic analysis of an active swivel steering mech-
anism for robotic mobile bases. In Proceedings of the IEEE International Conference on
RObotics and BIOmimetics (ROBIO), Guangzhou, China, December 11-14, 2012
7. Sevag Babikians , Elie Shammas, and Daniel C. Asmar Motion planning for a two-link
planar robot in a viscous environment. In Proceedings of the IEEE International Conference
on Intelligent RObots and Systems (IROS), Vilamoura, Algarve, Portugal, October, 2012
(45% acceptance rate)
8. Raja Oueiss , Dima Chdids , Karim Hassaniehs , Hiam Khoury, Daniel C. Asmar, and Imad
Elhajj. Infrastructureless Inspection Process Automation in Construction. In Proceedings of
the International Symposium of Automation and Robotics in Construction (ISARC), Tech-
nische Universiteit Eindhoven (TU/e) June 26-29, 2012
9. Chadi Mansours , Imad El Hajj, Elie Shammas and Daniel C. Asmar. Event-Based Dy-
namic Bandwidth Management for Teleoperation. In Proceedings of the IEEE International
Conference on RObotics and BIOmimetics (ROBIO), Phuket, Thailand, December, 2011
10. Dima Chdids , Raja Oueisss , Hiam Khoury, Daniel C. Asmar, and Imad ElHajj. Inertial-
Vision Sensor Fusion for Pedestrian Localization. In Proceedings of the IEEE International
Conference on RObotics and BIOmimetics (ROBIO), Phuket, Thailand, December, 2011
11. Sabine El Kahis , Daniel C. Asmar, Adel Fakih, Juan Nieto, Eduardo Nebot. 3D recon-
struction of a pipe using a monocular camera. In Proceedings of the IEEE International
Conference on RObotics and BIOmimetics (ROBIO), Phuket, Thailand, December, 2011
12. Bassam Jalghas , Daniel C. Asmar, and I. Elhajj. A Preemptive Falling Scheme for Hu-
manoid Robots. In Proceedings of the International Conference on Robotics and Automation
(ICRA), Shanghai, China. , May, 2011. (40% acceptance rate)
13. Samir Shakers , Daniel C. Asmar, and Imad Elhajj. 3D Reconstruction of Indoor Scenes by
Casting Visual Rays in an Occupancy Grid In Proceedings of the International Conference
on RObotics and BIOmimetics (ROBIO), Dec 14-18 Tianjin, China. 2010.
— page 4 of 8 —14. John S. Zelek, Ehsan Fazl Ersi, Daniel C. Asmar, and Adel H. Fakih. Computer vision geo-
location, awareness & detail. International Conference and Exhibition on Computing for
Geospatial Research & Application, COM.Geo 2010, Washington, DC, USA, June 21-23,
2010.
15. Bassam Jalghas and Daniel C. Asmar. A Simple Momentum Controller for Humanoid Push
Recovery In FIRA RoboWorld Congress, volume 5744 of Lecture Notes in Computer Science
(LNCS), page 95-102. Springer , 2009.
16. Samir Shakers , J.J. Saade, and Daniel C. Asmar. Person-following robot using fuzzy infer-
ence. In International Conf erence on Applied Computer & applied Computational Science,
Hangzhou, China, April 6-8, 2008.
17. Daniel C. Asmar, John S. Zelek, and Samer M. Abdallah. Detection of Tree Trunks as
Landmarks for Outdoor Vision SLAM. In IEEE Computer Vision and Pattern Recognition
(Perceptual Organization Workshop). New York, NY, USA, June 17-22, 2006.
18. Samer M. Abdallah, Daniel C. Asmar, and John S. Zelek. Towards Benchmarks for Vision
SLAM algorithms. In IEEE International Conference on Robotics and Automation. Florida,
USA, May 15-19, 2006.
19. Daniel C. Asmar,John S. Zelek, and Samer M. Abdallah. Seeing the Trees before the Forest.
In 2nd Canadian Conference On Computer and Robot Vision. Victoria, BC, Canada. May
8-11, 2005.
20. Daniel C. Asmar, Ahmad Shameli, and Shawki Areibi. A Comparative Assessment of
ACO Algorithms Within a TSP Environment. In DCDIS 4th International Conference on
Engineering Applications and Computational Algorithms, Guelph, Ontario, Canada, July
27-29, 2005.
21. Holbein Marc, Asmar Daniel, and Zelek John. IR depth from Stereo & Context Detection
for Autonomous Navigation. In SPIE Infrared Imaging Systems:Design, Analysis, Modeling
& Testing XVI, part of SPIE Symposium on Defense & Security, March 28-April 1, 2005.
22. Daniel C. Asmar, John S. Zelek, and Samer M. Abdallah. SmartSLAM: Localization and
mapping across multi-environments. In IEEE International Conference on Systems, Man,
& Cybernetics, (Robotics and Intelligent Sensing VI), the Hague, the Netherlands, October
10-13, 2004.
23. John S. Zelek and Daniel Asmar. A Robot’s Spatial Perception Communicated via Hu-
man Touch. In IEEE International Conference on Systems, Man & Cybernetics, (Human
Robotic Teams. Special Session, Track: Human & Robot Interaction) Washington, D.C.,
USA, October 5-8, 2003 .
24. Asmar Daniel, Moussa Medhat, and Zelek John. On the role of machine learning algo-
rithms in developing MEMS components. In IEEE Proceedings of the 2003 International
Conference on MEMS, NANO and Smart Systems, pages 108-113, July 20-23, 2003.
— page 5 of 8 —25. Zelek J.S., Bromley Sam, and Asmar, Daniel. Substituting Touch for Vision. In AAAI
Spring Symposium on Human Interaction with Autonomous Systems in Complex Environ-
ments. Stanford University, CA, USA, pages 213-218, March 24-26, 2003.
RESEARCH GRANTS
March 2013-March 2014
$ 29,300 Atmosphere Pollution Sampling Via an Unmanned Aerial Vehicle. Grant
of the Dean’s office. PI: Daniel Asmar Co-PI: Joseph Zeaiter, Alan
Shihadeh
Oct 2012- Sep 2015
EUR 3,000,000 International Augmented MED. Cross-Border Cooperation within the
European Neighbourhood and Partnership Instrument (ENPI) Sub-
grant (EUR 432,000) PI: Daniel Asmar Co-PI: Imad Elhajj, George
Turkiyyah, John Schwartz
Oct 2011 - Sep 2013
LL 27,000,000 An In-pipe robot inspection system, Lebanese National Council for Sci-
entific Research (LNCSR) PI: Daniel Asmar,Co-PI: Elie Shammas (
Oct 2011 - Sep 2013
LL 27,000,000 An In-Situ Robotic Sensing System for Online Monitoring of Maritime
Pollution, PI: Joseph Zeaiter; Co-PI: Daniel Asmar, Elie Shammas
July2011 - June2012
$ 7,000 Towards an Environmentally Clean Charcoal Production, Masri Insti-
tute Research Funding , PI: Joseph Zeaiter; Co-PI: Daniel Asmar, Elie
Shammas
July2011 - June2012
$ 6,300 An Intelligent Fall Avoidance Systems for Humanoid Robots, University
Research Board grant, American University of Beirut, PI: Daniel Asmar
Oct2010 - Sep2011
$ 8,800 Robotic 3D Reconstruction: from the Ground Up. University Research
Board grant, American University of Beirut, PI: Daniel Asmar
Oct2010 - Sept2012
$ 40,000 3D Model Augmentation for Infrastructure-Less Localization in Dy-
namic Construction Sites. Dar Al Handasah , PI: Hiam ElKhoury. Co-PI:
Imad ElHajj, Shadi Najjar, Salah Sadek, Daniel Asmar
— page 6 of 8 —Oct2010-Sep2011
$ 59,930 Development of Globally Competent and Socially Engaged Engineers:
International Collaborative Design Project for Aerial Detection of Land-
mines. Battelle Endowment for Technology & Human Affairs: PI: Jim
Gregory, Ohio State University. Co-PI: Nesreen Ghaddar, Daniel Asmar
Oct2009-Sep2010
$ 6,600 University Research Board grant, American University of Beirut, PI:
Daniel Asmar
Oct2009-Sep 2010
LL 8,500,000 Remote Context Based Multi-Lingual Information Retrieval for Tourism,
Lebanese National Council for Scientific Research (LNCSR), March 2nd
2009 - March 2nd 2010. PI: Mariette Awad, Co-PI: Imad ElHajj and
Daniel Asmar
July2008
$ 4000 University Research Board grant, long term summer development grant,
American University of Beirut, Daniel Asmar
Oct2008-Sep 2009
$ 6,000 University Research Board grant, American University of Beirut, PI:
Daniel Asmar
Oct2007-Sep 2009
LL 15,000,000 Lebanese National Council for Scientific Research (LNCSR), PI: Daniel
Asmar
Oct2007-Sep 2008
$ 6,000 University Research Board grant, American University of Beirut, PI:
Daniel Asmar
PROFESSIONAL ACTIVITIES AND MEDIA EXPOSURE
1. Asmar Daniel, Presented a seminar at National Instruments Arabia entitled ‘Towards au-
tonomous navigation of a golf cart’, May, 2012
2. Asmar Daniel, Project manager for 16 engineering projects that were conducted on a reality
television show held under the patronage of Qatar Foundation in Doha Qatar, March- April
2010
3. August 2008 Television Interview with the Lebanese Broadcasting Company International
(LBCI). Was hosted on the a special edition entitled ’Sawa3ed Men Lubnan’ of the pro-
— page 7 of 8 —gram ’KALAM EL NAS’ by Marcel Ghanem. The show concentrated on our design and
production of the first solar car of the Arab and Middle East region.
4. Asmar, Daniel. SSS06 (SLAM Summer School 06) in Oxford, England. Participated in a
series of lectures and tutorials on SLAM (August 27-31), 2006
5. John S. Zelek and Asmar, Daniel(2004). RoboNexus: Canadian Federation for Robotics
(CFR), exhibited as an invited participant of CFR at RoboNexus robotics exhibition in San
Diego. (Oct 21-23), 2004
6. Zelek J.Z., Bromley S., Dupre M., Asmar D.(2004) Vision, Haptics, Robots, and Humans
technology demonstration. IRIS/PRECARN 14th Annual Canadian Conference on Intelli-
gent Systems. Ottawa, Canada (June), 2004
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