朱利民：瞄準國家重大需求，突破智能與精密製造核心技術
朱利民及其團隊部分骨幹成員
在《中國製造2025》戰略中，高檔數控工具機和機器人的研發是國家的重大戰略需求，也是國家大力推動的重點科研領域，更是新一輪科技革命和產業變革中必須直面的重大挑戰。
上海交通大學教授、機械與動力工程學院智能製造與信息工程研究所所長朱利民長期從事複雜曲面零件高效精密數控加工理論與技術研究，從數控編程、工藝力學、三維測量、運動控制到數控系統與工具機，取得了系統性成果，在航天、航空和汽車發動機製造企業獲得重要應用。
同時，朱利民領導團隊瞄準機器人、人工智慧等國際學術前沿熱點，結合大型構件現場加工與裝配作業需求，將數控和機器人技術相結合，開拓機器人化智能製造裝備研究，與兄弟單位合作研發了大型薄壁零件雙機器人鏡像銑削加工技術與裝備。
近期，朱利民在學校的重點支持下，面向國家對超精密製造的重大需求，發揮團隊前期在五軸聯動數控加工、超聲輔助加工、加工-檢測一體化、精密運動控制等方面的研究優勢，積極布局5+X軸高效超精密切削、多能場輔助超精密切削、近原子尺度拋光等研究，已初見成效。
在朱利民看來，做科研不僅需要持之以恆，耐得住寂寞；更要志向遠大，隨著國家重大需求和國際學科前沿的發展，不斷開拓進取。
潛心鑽研十五載，突破複雜曲面零件多軸聯動數控加工與數位化測量核心技術
葉輪、葉片類複雜曲面零件在運載、能源和國防等行業有著廣泛應用，直接關係國民經濟發展和國防安全，20世紀90年代我國在相關製造理論與技術方面與西方國家存在著巨大差距。葉片面型複雜、壁薄，整體葉輪相鄰葉片間重疊區域大、通道深而窄，刀具易與零件發生幹涉，因此刀具與零件曲面幾何失配、加工振動和加工變形等問題非常突出。朱利民自1999年底跟隨熊有倫院士從事博士後研究開始，在複雜曲面多軸聯動數控加工與數位化測量方向潛心耕耘十餘年，先後參與了熊有倫院士主持的國家自然科學基金重大項目和丁漢院士主持的兩期國家原「973」計劃項目，逐漸成長為學術帶頭人，在加工成形幾何學原理、動力學判穩方法、幾何誤差評定模型三個方面取得突破性學術進展。
他們提出了自由曲面非球頭刀寬行數控加工的幾何學原理和刀位規劃方法。五軸聯動數控加工的一大優勢在於通過調整刀具姿態，使得刀觸點軌跡線附近的刀具包絡曲面充分逼近設計曲面，從而顯著提高切削行寬。寬行加工包括局域高階密切和宏域曲率匹配兩種思路。對於自由曲面，已有理論僅支持二階密切加工，三階密切和宏域匹配的幾何學條件尚不清楚。單個刀位下能否計算刀具包絡面、刀軸軌跡調整如何影響刀具包絡面是困擾學界多年的難題，成為制約五軸聯動寬行加工潛力發揮的瓶頸。朱利民探明了接觸曲面間的相伴關係，由刀具包絡曲面與刀具曲面和設計曲面間的線接觸關係，建立了單個刀位下刀具包絡面局部三階估計的基本方程，發現了刀具包絡面與設計曲面在刀觸點的三階密切條件，進而提出了點接觸加工的三階密切法，與二階密切法相比，有效切削行寬提高一倍以上。進一步，他建立了一般迴轉刀具掃掠體包絡面的解析表達式及其與設計曲面間的法向誤差關於刀具軌跡和刀具形狀調整的微分關係，將刀具面族包絡向設計曲面的整體逼近誤差控制轉化為對刀軸軌跡面和刀具曲面的形狀控制，由此提出了線接觸加工的整體逼近法，將側銑加工的範圍從圓柱刀擴展到一般迴轉刀具，從單行加工擴展到多行切向連續加工，從直紋面擴展到一般自由曲面。CIRP Fellow、法國學者Bernard教授在綜述論文中將該成果列入「1979-2012年五軸側銑加工發展路線圖」，認為提出了誤差控制和刀位優化的新概念新方法，是「創新和令人振奮」的工作。
他們提出了點-曲面距離函數的微分理論，建立了散亂點雲曲面逼近的統一方法體系。三維測量在複雜曲面數位化製造中的應用已從最初的誤差評定和逆向工程擴展到配對加工、自適應加工等多個方面。大規模測量點雲必須經過幾何要素擬合才能得到所期望的決策信息，計算效率和穩定性問題非常突出。已有方法多是「一把鑰匙開一把鎖」，僅僅適合某種問題或某種曲面，缺乏規律性認識導致對某一類問題很有效的方法無法擴展應用到其他領域，不同應用領域的先進方法的優點難以集成於一體，特別是對於新的應用，需要經過長時期的摸索才能找到合適的方法。朱利民定義了點-曲面有向距離函數用以度量點到曲面的偏差，建立了距離函數的可微性條件及其一、二階導數的解析計算方法。將各類曲面擬合問題統一表示為對點-曲面距離有特定要求的最優化問題，由距離函數的微分性質設計出高效穩健的曲面識別、重建、尋位、誤差評定與分解、面形再設計等三維點雲數據分析新算法。進一步，他拓展建立了點-曲線和曲面-曲面距離函數的微分理論，將輪廓跟蹤控制、夾持完全約束性判別和夾具定位誤差分析中的傳統「一階」方法提升為「二階」，在精度方面取得顯著突破。上述工作形成了完整的點-曲線-曲面間距離函數的微分理論，為「裝備-工具-零件」間動態幾何關係的表達、推理與計算提供了建模工具。米蘭理工大學Moroni教授評價他提出的幾何誤差評定算法「遠勝其他方法，最精緻、計算速度最快、最有前景」。以上曲面加工與測量的幾何學新原理和新方法作為重要創新點之一獲得2012年國家自然科學獎二等獎。
他們提出了數控銑削加工穩定性與動態誤差同步預報的高效通用方法——全離散法。銑削加工中的顫振是導致零件表面缺陷，甚至刀具和工具機損壞的主要原因之一，加工穩定性判別與動態誤差預測是實現高質量、高效率加工的基礎。國際上加工動力學分析的主流方法是頻域法和時域半離散法，這兩種方法在計算效率和通用性方面均存在著一定的不足，特別是不能預報由加工振動引起的表面位置誤差。五軸高速加工的特點是高轉速、高進給、時變徑向切深，因此需要能夠預報加工穩定性和加工誤差的高效率、通用計算方法。朱利民和團隊突破半離散法基於微分方程的思路，建立了銑削動力學系統的積分方程模型，提出了積分格式動態響應計算的全離散法，可同時預報加工穩定性和表面位置誤差，適用於大／小徑向／軸向切深、多時滯效應、結構模態耦合、非線性切削力、薄壁件等多種工況，與半離散法相比，收斂階數提高一階，計算效率提高一個數量級。進一步，他們提出了積分方程模型靈敏度分析的半解析方法，獲得了參數不確定動力學模型的保守解，實現了工藝參數的穩健優化。半離散法創立者Insperger教授專門撰文評價全離散法「計算效率高、在應用上有優勢」，並在和匈牙利科學院工程部主席、匈牙利科學院和歐洲科學院兩院院士Stépán教授合著的專著Semi-discretization for time-delay systems中整節專門介紹了該方法。前NASA研究員Omenyi評價全離散法「能深刻揭示銑削加工的各種穩定性特徵，實現了計算效率上的突破，是開創性方法」。全離散法現已成為切削動力學研究的基本工具，被國內外學者廣泛使用。該成果獲得2017年高等學校科學研究優秀成果獎自然科學獎一等獎。
在理論方法突破的基礎上，朱利民領導團隊研究解決了刀具全局可達方向錐高效計算、考慮刀具跳動和底刃切削影響的五軸銑削力預報、基於測量反饋的薄壁件加工變形誤差無模型迭代消減、薄壁件側/端銑加工變形預測與刀路修正補償、變參數（變進給/變轉速/變齒距）加工、五軸線性刀具路徑的實時G2連續轉接光順、刀尖點平動和刀軸轉動同步速度規劃、多軸交叉耦合控制、FPGA高速插補、旋轉軸幾何誤差辨識與補償等一批關鍵技術；與企業合作研發了五軸數控系統和五軸工具機擺頭傳動部件，形成了五軸數控工具機的自主研製能力；研發了葉輪類零件五軸數控加工CAM軟體和成套工藝技術，在航天、航空和汽車發動機製造企業獲得重要應用，使大型液體火箭發動機誘導輪批量生產效率提高4倍以上。他還主持研製了四軸葉片測量專機，其控制器支持多種類型的電機和測頭進行多軸聯動掃描測量，獨有的專利技術「葉片截面接觸式掃描探針半徑三維補償方法」將葉片測量精度提升30%，葉片分析軟體符合中航工業標準，該測量設備已在航空發動機企業獲得應用。
瞄準智能製造熱點，積極開拓大型複雜構件機器人加工技術與裝備研究
2010年以來，機器人加工作為智能製造研究的一個重要突破口已引起世界工業強國的高度關注。歐盟連續資助了COMET（2010.9-2013.6，772萬歐元）、HEPHESTOS（2012.9-2015.10，335萬歐元）和MEGAROB（2012.11-2015.10，434萬歐元）3項關節型工業機器人加工方面的重大項目，分別針對高精度（小於50um）、硬質材料（鋼、鉻鎳鐵合金）、超大零件（10m以上）等應用場景開展研究。在這些計劃提出的初期，朱利民即敏銳地察覺出機器人化智能製造裝備的廣闊發展前景。他認為，相比於數控工具機，機器人具有運動靈活度高、工作空間大、並行協調作業能力強等優勢，同時機器人常用的感知功能，如機器視覺和力覺以及相應的視覺伺服和力/位混合控制技術日臻成熟。以機器人作為裝備的執行體，並且配以強大的感知功能，基於工藝知識模型與多傳感器反饋信息對運行參數進行滾動優化，將突破傳統製造裝備僅關注各運動軸位置和速度控制的局限，形成裝備對工藝過程的主動控制能力，同時可根據用戶需要配備AGV或長行程導軌構建形式多樣的移動機器人平臺，創建多機器人協同作業的「能工巧匠」型機器人裝備，在超大零件的分段自尋位並行加工中具有顯著優勢。
2013年起朱利民邁入機器人加工研究領域，並參與了國家自然科學基金委員會「共融機器人基礎理論與關鍵技術研究」重大研究計劃的論證工作，經過數年預研，2016年由他牽頭申請的國家自然科學基金重點項目「蒙皮鏡像加工機器人系統的主動順應與協調控制研究」獲得立項。該項目針對航空航天領域長厚比>1000的「極端」弱剛性大型蒙皮構件的壁厚加工精度保障難題，旨在將混聯機器人裝備技術和數位化加工技術相結合，創建雙機器人「切削加工與誤差補償+隨動支撐與壁厚測量」協同作業的鏡像加工新原理和新裝備。由上海交通大學、天津大學和上海拓璞數控科技有限公司組成的科研團隊密切合作，經過3年多的研究取得了豐碩的成果：發明了新型位置型1T2R並聯機構，提出了尺度綜合和支鏈模塊化、整機輕量化設計方法，研製出五軸混聯加工機器人；發明了集成薄壁件法向測量與壁厚測量、「中心剛性支撐+四周柔性氣動支撐」形式的剛柔混合支撐頭，獲得了柔性氣動支撐中氣缸氣壓對抑振效果的影響規律；制定了雙機器人等壁厚鏡像銑削協同運動控制方案，設計出「支撐端壁厚測量+加工端切深補償」形式的加工壁厚實時控制系統，加工實驗中大型弱剛性壁板零件的壁厚穩定控制在2±0.1mm以內。
同時，朱利民領導團隊還開展了面向機器人加工的大尺度空間精確自主尋位與加工質量原位檢測技術研究。他們提出了集iGPS、雷射跟蹤儀、近景攝影測量、多模態三維光學測量於一體的全域跨尺度立體傳感定位與測量方案，旨在通過雷射跟蹤儀建立全局時空信息傳感網絡，利用iGPS與近景攝影測量粗精分級測量策略，實現機器人在超大空間中的亞毫米級自主尋位與微米級精準作業；在加工表面形貌測量方面，他們以非朗伯複雜曲面光反射模型為基礎，提出了集成光度攝影成像、條紋投影成像和條紋偏折成像的多模態三維光學測量方法，基於光度攝影成像分析表面散射與反射耦合機制，通過物理模型驅動的計算成像，對條紋投影、偏折參數進行像素級調製及數據融合，實現了對精加工金屬構件從局部紋理到全局形狀的跨尺度測量。相關技術正嘗試應用於風電葉片、太空飛行器艙體等典型大型複雜構件的機器人加工系統中。
面向極端製造學術前沿，前瞻布局原子及近原子尺度製造研究
高效與精密是加工製造技術永恆的追求。超精密製造可以獲得亞微米級形位精度、納米/亞納米級表面粗糙度及近無表層缺陷的高性能表面與功能結構，代表了迄今精密製造技術的最高發展階段。朱利民領導團隊從2010年起，針對超精密工具機的快速伺服刀架、原子力顯微鏡的掃描器等納米定位平臺向超快方向發展的需求，從機構設計、動力學建模、軌跡規劃、運動控制等方面開展了系統研究，建立了反映制動器遲滯與機構振動耦合行為的納米定位平臺非線性動力學模型，提出同時提昇平臺諧振模態阻尼和剛度的振動模態控制方法，輔以外環高增益魯棒跟蹤控制器，獲得了接近甚至超越平臺機構固有諧振頻率的控制帶寬，成果被國際同行評價為「主流方法」「通用模型」。
近年來，軍事和民用高端裝備的重大需求，使得超高精度、高性能表面與功能結構零件的製造技術成為各製造強國優先發展的重要戰略性技術，並進一步朝著原子及近原子尺度製造的方向發展。瞄準此項極端製造學術前沿，朱利民從2018年起在學校、學院和國家重點實驗室的大力支持下，主持建設超精密製造方向，一方面，發揮團隊前期在五軸聯動數控加工、超聲輔助加工、高帶寬納米定位等方面的研究優勢，重點開展面向複雜結構的5+X軸高效超精密切削和面向難加工材料的多能場輔助超精密切削技術研究；同時，與英國皇家工程院院士蔣向前教授領銜的英國國家未來計量聯盟進行深度合作，研發下一代加工-檢測一體化智能超精密工具機。另一方面，前瞻探索基於大氣等離子體的原子尺度拋光，基於探針的原子級加工、測量和操縱等（近）原子尺度製造技術。依託上海交通大學科技園及大零號灣計劃，團隊已建成約3000平方米的超精密製造研究中心，包括超精密加工及檢測實驗室、光學成型及鍍膜潔淨室、光學設計及方案展示中心等，擁有多臺套全球領先的五軸聯動超精密工具機和超精密檢測儀器。目前，團隊已通過技術創新，為華為、晶方科技、舜宇光學、成都光明等領軍企業加工出大尺寸微納菲涅爾結構模具、鎢合金微球陣列模具、晶圓級光學微結構模具等高附加值產品，實現了進口替代。朱利民展望說道：「我們預期經過5年建設，將在下一代光學和半導體超精密製造方面形成一批自主的特色技術、工藝和裝備，建成國際一流的超精密加工、檢測及中試平臺，服務國防、能源、航空航天等國家重大工程以及集成電路、消費電子、光通信、汽車等產業。」
http://me.sjtu.edu.cn/teacher_directory1/zhulimin.html
朱利民，上海交通大學機械與動力工程學院智能製造與信息工程研究所所長、教育部「長江學者」特聘教授。主要從事數控加工技術與裝備、機器人化智能製造裝備、超精密製造與檢測方向的研究。他是國家傑出青年科學基金獲得者、國家「萬人計劃」科技創新領軍人才。
朱利民擔任國際著名學術期刊IEEE/ASME Trans. On Mechatronics副編輯、英國機械工程師學會會刊Proceedings of the IMechE, Part B: Journal of Engineering Manufacture和中國機械工程學報英文版Chinese Journal of Mechanical Engineering編委，國家自然科學基金委員會機械設計與製造學科「十四五」發展戰略報告「高性能、智能化製造」方向撰寫組組長，上海市學位委員會第五屆學科評議組成員。
朱利民主持國家自然科學基金重點項目3項、國家科技重大專項課題等科研項目30餘項，由科學出版基金資助出版專著1部，發表SCI論文190餘篇，包括ASME和IEEE會刊論文50餘篇、機械製造領域影響因子最高的期刊Int J Mach Tool Manu論文19篇，授權發明專利20餘項。以第一完成人獲高等學校科學研究優秀成果獎自然科學獎一等獎1項，作為主要完成人獲國家自然科學獎二等獎和國家科技進步獎二等獎各1項。
科研項目
主持國家和省部級科研項目30餘項，包括國家自然科學基金項目8項（傑出青年基金項目1項、重點項目3項、面上項目3項、青年項目1項）；國家973項目子課題2項；國家重大科技專項課題1項；教育部、上海市科研計劃項目14項。1 力反饋虛擬操作理論及在產品開發中的應用，國家自然科學基金項目(50205018)，2003.1-2005.12，負責人2 先進電子製造中的重要科學技術問題研究，國家自然科學基金重大項目(50390060)，2003.4-2007.3，子課題「基於實時機器視覺的精密定位」負責人兼項目學術秘書3 基於擴散模擬的機械信號特徵自適應增強方法及其應用，上海市青年科技啟明星人才培養計劃項目(04QMX1415)，2004.7-2006.12，負責人4 計算製造的基礎理論及應用，上海市基礎研究重點項目(04JC14050)，2004.10- 2006.9，負責人之一5 基於異質擴散模擬的機械信號動態演化特徵自適應增強方法及其應用，國家自然科學基金項目(50475022)，2005.1-2007.12，負責人6 自重構彩色編碼結構光三維測量系統的研究與開發，教育部新世紀優秀人才支持計劃項目(NCET-05-0406)，2006.1-2007.12，負責人7 基於結構光測量的航空發動機葉片自動檢測—工件裝夾、視點規劃與點雲數據分析，橫向開發項目，2007.6-2008.5，負責人8 掘進系統的位姿測量與自動導向，國家973重點基礎研究項目(2007CB714005)，2007.7-2011.8，課題交大方負責人9 掃描造型的運動幾何學基礎及在五軸數控加工中的應用，上海市基礎研究重點項目(07JC14028)，2007.12-2009.11，負責人10 歐氏運動群上的曲線設計及其在數位化產品開發中的應用，國家自然科學基金項目(50775147)，2008.1-2010.12，負責人11 循環波形特徵提取方法及其在多工序複合加工過程監測中的應用，「機械系統與振動」國家重點實驗室自主課題（面上），2008.1-2009.12，負責人12 集成電路生產全自動光學測量設備研發與應用—子課題2：精密定位運動平臺的研發，02重大專項(2009ZX02006-002)，2009.4-2012.3，負責人13 五軸數控銑削加工動力學仿真與集成優化的關鍵技術研究，上海市青年科技啟明星人才跟蹤培養計劃項目(09QH1401500)，2009.7-2011.6，負責人14 智能材料微驅動器的磁滯補償控制原理及應用，上海市科委政府間國際科技合作項目(09520701700)，2009.10-2011.9，負責人15 自由曲面線接觸和高階點接觸數控加工的幾何學原理及其應用，上海市基礎研究重點項目(10JC1408000)，2010.10-2012.09，負責人16 微/納光學陣列元件的約束刻蝕劑層加工技術與系統的基礎研究，國家自然科學基金重點項目(91023047)，2011.1-2014.12，負責人17 高溫高強複雜曲面零件多軸加工物理過程仿真與高效低損傷加工，國家973重點基礎研究項目(2011CB706804)，2011.1-2015.8，課題交大方負責人兼項目學術秘書18 用於高速掃描探針顯微鏡的寬帶納米定位技術的研究，上海市曙光人才支持計劃項目(10SG17)，2011.1-2012.12，負責人19 複雜場景自適應三維測量關鍵技術與系統研究，「機械系統與振動」國家重點實驗室自主課題（重點），2011.1-2013.12，負責人20 用於高速掃描探針顯微鏡的超高帶寬三維納米定位平臺的關鍵技術研究，上海市科委政府間國際科技合作項目（11520701500），2011.11-2013.10，負責人21 五軸聯動高效精密加工工藝及優化，「十二五」裝備預先研究項目(625010303)，2012.1-2015.12，交大子課題負責人22 超高帶寬納米定位平臺的主動阻尼控制和動態磁滯補償研究，「機械系統與振動」國家重點實驗室自主課題（重點），2013.1-2014.12，負責人23 自由曲面五軸數控線接觸加工動力學基礎研究，上海市基礎研究重點項目(13JC1408400)，2013.9-2016.8，負責人24 數位化製造與數控加工技術，國家傑出青年基金項目（51325502），2014.1-2017.12，負責人25 壓電驅動AFM納米定位平臺的超高帶寬力反饋主動阻尼控制技術研究，高等學校博士學科點專項科研基金課題（20130073110037），2014.1-2016.12，負責人26 電化學微納加工系統研製，橫向開發項目，2014.1-2014.6，負責人27 五軸聯動加工中心關鍵技術研究，上海市科委高新技術領域項目課題(14111104801)，2014.7-2016.6，負責人28 先進位造科學與技術「十三五」發展戰略研究，國家自然科學基金項目(51445001)，2014.6-2014.12，交大方負責人29 大型複雜零件機器人智能加工技術與裝備研究，上海市科委國際科技合作項目(15550722300)，2015.10-2017.9，負責人30 蒙皮鏡像加工機器人系統的主動順應與協調控制研究，國家自然科學基金重點項目(91648202)，2017.1-2020.12，負責人31 基於柔順適應性裝夾支撐的薄壁件加工新技術，國家「萬人計劃」科技創新領軍人才計劃項目，負責人32 上海交通大學-上海拓璞數控科技有限公司「航空航天智能製造裝備與系統聯合研究中心」，2017-2021，負責人33 大型複雜曲面葉片定位與型面檢測，「智慧機器人」國家重點研發專項課題（2017YFB1301503），2017.12-2020.11，負責人34 鏡像銑隨動支撐頭與加工壁厚閉環控制系統的研究，「機械系統與振動」國家重點實驗室自主課題（重點），2018.1-2019.12，負責人35 超快AFM納米定位平臺的時滯反饋主動阻尼與廣義內模控制研究，國家自然科學基金項目（51975375），2020.1-2013.12，負責人36 面向柔性定製作業的機器人三維視覺感知關鍵技術與核心部件研發, 上海市科委高新技術領域項目（19511106000），2019.9-2021.8，負責人37 國家自然科學基金重大研究計劃集成項目，大型複雜構件多機自律加工機器人的基礎研究（編號91948301），子課題-大型構件全場景測量與自主尋位，2020.1-2024.12，負責人38 機器人三維視覺感知核心部件研發，澳門重點研發專項課題，2020.1-2022.12，負責人39 面向光學微結構超精密製造的加工-測量一體化機器人系統研究，國家自然科學基金聯合基金重點項目(U2013211)，2021.1-2024.12，負責人
代表性論文專著
由中科院科學出版基金資助出版專著1部；在美國機械工程師學會（ASME）會刊（23篇）、國際電氣電子工程師學會（IEEE）會刊（33篇）、International Journal of Machine Tools and Manufacture（19篇）、Computer-Aided Design（5篇）、《中國科學》和《科學通報》等國內外一流學術期刊發表SCI論文近200篇。
專著：
1 丁漢, 朱利民. 複雜曲面數位化製造的幾何學理論和方法. 科學出版社, 43.8萬字, 2011.
SCI論文：
1 Zhu XY, Zhu LM, Zhong BL. Robot Collision-free Path Planning Utilizing Gauge Function. Science in China-Ser. E, 1997, 40(5): 546-551.
2 Zhu LM, Li HX, Ding H, Xiong YL. Noise Influence on Estimation of Signal Parameters from the Phase Difference of Discrete Fourier Transforms. Mechanical Systems and Signal Processing, 2002, 16(6): 991-1004.
3 Zhu LM, Xiong YL, Zhong BL. An Approach for Amplitude Correction in Line Spectrum. Mechanical Systems and Signal Processing, 2003, 17(3)：551-560.
4 Zhu LM, Ding H, Xiong YL. A Steepest Descent Algorithm for Circularity Evaluation. Computer-Aided Design, 2003, 36(3): 255-265.
5 Zhu LM, Ding H. Application of Kinematic Geometry to Computational Metrology. International Journal of Machine Tools and Manufacture, 2003, 43(2): 203-215.
6 Zhu LM Ding H, Xiong YL. Distance Function Based Algorithm for Spatial Straightness Evaluation. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2003, 217: 931-939.
7 Zhu LM, Xiong ZH, Ding H, Xiong YL. A Distance Function Based Approach for Localization and Profile Error Evaluation of Complex Surface. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2004, 126(3): 542-554.
8 Zhu LM, Luo HG, Ding H. Accuracy Characterization and Measurement Point Planning for Workpiece Localization. Science in China-Ser. E, 2004, 34(11): 1-12.
9 Zhu LM, Ding H. A Unified Approach to Least-squares Surface Fitting. Science in China-Ser. G, 2004, 47 (S1): 72-78.
10 Zhu LM, Ding H, Ding K. Phase Regression Approach for Estimating the Parameters of a Noisy Multi-frequency Signal. IEE Proceedings-Vision, Image & Signal Processing, 2004, 151(5): 411-420.
11 Zhu LM, Li HX, Ding H. Estimation of Multi-frequency Signal Parameters by Frequency Domain Least-squares. Mechanical Systems and Signal Processing, 2005, 19(5): 955-973.
12 Niu XW, Zhu LM, Ding H. New Statistical Moments for the Detection of Defects in Rolling Element Bearings. International Journal of Advanced Manufacturing Technology, 2005, 26(11-12): 1268-1274.
13 Zhu LM, Ding Y, Ding H. Algorithm for Spatial Straightness Evaluation Using Theories of Linear Complex Chebyshev Approximation and Semi-infinite Linear Programming. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2006, 128(1): 142-150.
14 Luo HG, Zhu LM, Ding H. Coupled Anisotropic Diffusion for Image Selective Smoothing. Signal Processing, 2006, 86(7): 1728-1736.
15 Luo HG, Zhu LM, Ding H. Camera Calibration with Coplanar Calibration Board Near Parallel to the Imaging Plane. Sensors and Actuators: A. Physical, 2006, 132: 480-486.
16 Zhu LM, Song XM, Li HX, Ding H. High Accuracy Estimation of Multi-frequency Signal Parameters by Improved Phase Linear Regression. Signal Processing, 2007, 87(5): 1066-1077.
17 Zhu LM, Ding H, Zhu XY. Synchronous Averaging of Time-frequency Distribution with Application to Machine Condition Monitoring. Trans of the ASME, Journal of Vibration and Acoustics, 2007, 129(4): 441-447.
18 Luo HG, Zhu LM, Ding H. An Industrial Solution to Object Pose Estimation for Automatic Semiconductor Fabrication. International Journal of Advanced Manufacturing Technology, 2007, 32(9-10): 969-977.
19 Tao B, Zhu LM, Ding H, Xiong YL. Rényi Entropy Based Generalized Statistical Moments for Early Fatigue Defect Detection of Rolling Element Bearing. Proceedings of the IMechE, Part C: Journal of Mechanical Engineering Science, 2007, 221(1): 67-79.
20 Tao B, Zhu LM, Ding H, Xiong YL. An Alternative Time Domain Index for Condition Monitoring of Rolling Element Bearings－A Comparative Study. Reliability Engineering and System Safety, 2007, 92(5): 660-670.
21 Ding Y, Zhu LM, Ding H. Chebyshev Fitting of Spatial Line with Applications to Cutter Location Planning and Tolerance Evaluation. Precision Engineering，2007, 31(4): 364-368.
22 Ding Y, Zhu LM, Ding H. A Unified Approach for Circularity and Spatial Straightness Evaluation Using Semidefinite Programming. International Journal of Machine Tools and Manufacture, 2007, 47: 1646-1650.
23 Zhu LM, Ding H, Zhu XY. Extraction of Periodic Signal without External Reference by Time Domain Average Scanning. IEEE Trans. On Industrial Electronics, 2008, 55(2): 918-927.
24 Zhu LM, Luo HG, Ding H. Optimal Design of Measurement Point Layout for Workpiece Localization. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2009, 131(1): 44-56.
25 Zhu LM, Zhang XM, Zheng G, Ding H. Analytical Expression of the Swept Surface of a Rotary Cutter Using the Envelope Theory of Sphere Congruence. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2009, 131(4), 041017.
26 Zhu LM, Zheng G, Ding H. Formulating the Swept Envelope of Rotary Cutter Undergoing General Spatial Motion for Multi-axis NC Machining. International Journal of Machine Tools and Manufacture, 2009, 49(2): 199-202.
27 Zhu LM, Luo HG, Zhang X. Uncertainty and Sensitivity Analysis for Camera Calibration. Industrial Robot, 2009, 36(3): 238-243.
28 Ding Y, Zhu LM, Ding H. On a Novel Approach to Planning Cylindrical Cutter Location for Flank Milling of Ruled Surfaces. International Journal of Production Research, 2009, 47(12): 3289-3305.
29 Ding H, Zhu LM. Global Optimization of Tool Path for Five-axis Flank Milling with a Cylindrical Cutter. Science in China-Ser. E, 2009, 52(8): 2449-2459.
30 Luo C, Zhu LM, Ding H. Identification and Reconstruction of Surfaces Based on Distance Function. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2009, 223(8): 981-994.
31 Zhang X, Zhu LM. Projector Calibration from the Camera Image Point of View. Optical Engineering, 2009, 48, 117208.
32 Zhu LM, Zhang XM, Ding H, Xiong YL. Geometry of Signed Point-to-surface Distance Function and Its Application to Surface Approximation. Trans. Of the ASME, Journal of Computing and Information Science in Engineering, 2010, 10(4), 041003.
33 Zhu LM, Zheng G, Ding H, Xiong YL. Global Optimization of Tool Path for Five-axis Flank Milling with a Conical Cutter. Computer-Aided Design, 2010,42(10): 903-910.
34 Zhu LM, Ding H, Xiong YL. Third Order Point Contact Approach for Five-axis Sculptured Surface Machining Using Non-ball-end Tools -Part I: Third Order Approximation of Tool Envelope Surface. SCIENCE CHINA Technological Sciences, 2010, 53(7): 1904-1912.
35 Zhu LM, Ding H, Xiong YL. Third Order Point Contact Approach for Five-axis Sculptured Surface Machining Using Non-ball-end Tools -Part II: Tool Positioning Strategy. SCIENCE CHINA Technological Sciences, 2010, 53(8): 2190-2197.
36 Zhang XM, Zhu LM, Zheng G, Ding H. Tool Path Optimization for Flank Milling Ruled Surface Based on Distance Function. International Journal of Production Research, 2010, 48(14): 4233-4251.
37 Zhang XM, Zhu LM, Ding H. Matrix Perturbation Method for Predicting Dynamic Modal Shapes of Workpiece in High-speed Machining. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2010, 224(1): 177-183.
38 Bi QZ, Zhu LM, Wang YH, Ding H. Analytical envelope surface representation of a conical cutter undergoing rational motion. International Journal of Advanced Manufacturing Technology, 2010, 47(5-8): 719-730.
39 Bi QZ, Wang YH, Zhu LM, Ding H. Generating Collision-free Tool Orientations for 5-axis NC Machining with a Short Ball-end Cutter. International Journal of Production Research, 2010, 48(24): 7337-7356.
40 Bi QZ, Wang YH, Zhu LM, Ding H. Globally Smoothing Cutter Orientations for Five-axis NC Machining Based on Cutter Contact Point Mesh. SCIENCE CHINA Technological Sciences, 2010, 53(5): 1294-1303.
41 Ding H, Bi QZ, Zhu LM, Xiong YL. Tool Path Generation and Simulation of Dynamic Cutting Process for Five-axis NC Machining. Chinese Science Bulletin, 2010, 55(30): 3408-3418.
42 Ding Y, Zhu LM, Zhang XJ, Ding H. A Full-discretization Method for Prediction of Milling Stability. International Journal of Machine Tools and Manufacture, 2010, 50(5): 502-509.
43 Ding Y, Zhu LM, Zhang XJ, Ding H. Second-order Full-discretization Method for Milling Stability Prediction. International Journal of Machine Tools and Manufacture, 2010, 50(10): 926-932.
44 Gu GY, Zhu LM, Ding H. Design of a Distributed Multi-axis Motion Control System Using the IEEE-1394 Bus. IEEE Trans. On Industrial Electronics, 2010, 57(12): 4209-4218.
45 Gu GY, Zhu LM. High-speed Tracking Control of Piezoelectric Actuators Using an Ellipse-based Hysteresis Model. Review of Scientific Instruments, 2010, 81(8), 085104.
46 Zhang X, Zhu LM. Alleviating the Computational Load of the Probabilistic Algorithms for Circles Detection Using the Connectivity Represented by Graph. Machine Vision and Applications, 2011, 22(4): 651-662.
47 Ding Y, Zhu LM, Zhang XJ, Ding H. On a Numerical Method for Simultaneous Prediction of Stability and Surface Location Error in Low Radial Immersion Milling. Trans. Of the ASME, Journal of Dynamic Systems, Measurement and Control, 2011, 133(2), 024503.
48 Gu GY, Zhu LM. Modeling of Rate-dependent Hysteresis in Piezoelectric Actuators Using a Family of Ellipses. Sensors and Actuators: A. Physical, 2011, 157(2): 303-309.
49 Zhang X, ZhuLM. Determination of Edge Correspondence Using Color Codes for One-shot Shape Acquisition. Optics and Lasers in Engineering, 2011, 49(1): 97-103.
50 Zhang X, ZhuLM, Li YF. Indirect Decoding Edges for One-shot Shape Acquisition. Journal of the Optical Society of America A, 2011, 28(4): 651-661.
51 Luo C, Zhu LM, Ding H. Two-sided Quadratic Model for Workpiece Fixturing Analysis. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2011, 133(3), 031004.
52 Ding Y, Zhu LM, Zhang XJ, Ding H. Numerical Integration Method for Prediction of Milling Stability. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2011, 133(3), 031005.
53 Ding Y, Zhu LM, Zhang XJ, Ding H. Milling Stability Analysis Using the Spectral Method. SCIENCE CHINA Technological Sciences, 2011, 54(12): 3130-3136.
54 Luo C, Zhu LM, Ding H. A Novel Curvature-based Method for Analyzing the Second Order Immobility of Frictionless Grasp. Robotica, 2012, 30(4): 613-626.
55 Zheng G, Bi QZ, Zhu LM. Smooth Tool Path Generation for 5-axis Flank Milling Using Multi-objective Programming. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2012, 226(2): 247-254.
56 Zheng G, Zhu LM, Bi QZ. Cutter Size Optimization and Interference-free Tool Path Generation for Five-axis Flank Milling of Centrifugal Impellers. International Journal of Production Research, 2012, 50(23): 6667-6678.
57 Zhang XM, Zhu LM, Ding H, Xiong YL. Kinematic Generation of Ruled Surface based on Rational Motion of Point-line. SCIENCE CHINA Technological Sciences, 2012, 55(1): 62-71.
58 Zhang XM, Zhu LM, Ding H, Xiong YL. Numerical Robust Stability Estimation in Milling Process. Chinese Journal of Mechanical Engineering, 2012, 25(5): 953-959.
59 Ding Y, Zhu LM, Zhang XJ, Ding H. Response Sensitivity Analysis of the Dynamic Milling Process Based on the Numerical Integration Method. Chinese Journal of Mechanical Engineering, 2012, 25(5): 940-946.
60 Zhang XM, Zhu LM, Zhang D, Ding H, Xiong YL. Numerical Robust Optimization of Spindle Speed for Milling Process with Uncertainties. International Journal of Machine Tools and Manufacture, 2012, 61(10): 9-19.
61 Zhang X, Zhu LM, Li YF, Tu DW. Generic Non-sinusoidal Fringe Model and Gamma Calibration in Phase Measuring Profilemetry. Journal of the Optical Society of America A, 2012, 29(6): 1047-1058.
62 Lai LJ, Gu GY, Zhu LM. Design and Control of a Decoupled 2-DOF Translational Parallel Micro-positioning Stage. Review of Scientific Instruments, 2012, 83(4), 045105.
63 Zhang X, Li YF, Zhu LM. Discontinuity-preserved Decoding of One-shot Shape Acquisition Using Regularized Color. Optics and Lasers in Engineering, 2012, 50(10): 1416-1422.
64 Zhang X, Li YF, Zhu LM. Color Code Identification in Coded Structured Light. Applied Optics, 2012, 51(22): 5340-5356.
65 Gu GY, Yang MJ, Zhu LM. Real-time Inverse Hysteresis Compensation of Piezoelectric Actuators with a Modified Prandtl-Ishlinskii Model. Review of Scientific Instruments, 2012, 83(6), 065106.
66 Zhu LM, Ding H, Xiong YL. Simultaneous Optimization of Tool Path and Shape for Five-axis Flank Milling. Computer-Aided Design, 2012, 44(12): 1229-1234.
67 Lai LJ, Zhou SY, Gu GY. Zhu LM. Development of an Automatic Approaching System for Electrochemical Nanofabrication Using Visual and Force-displacement Sensing. Sensors, 2012, 12(7): 8465-8476.
68 Ding H, Ding Y, Zhu LM. On Time-domain Methods for Milling Stability Analysis. Chinese Science Bulletin, 2012, 57(33): 4336-4345.
69 Gu GY, Zhu LM, Su CY, Ding H. Motion Control of Piezoelectric Positioning Stages: Modeling, Controller Design and Experimental Evaluation. IEEE/ASME Trans. On Mechatronics, 2013, 18(5): 1459-1471.
70 Zhao H, Zhu LM, Xiong ZH, Ding H. Development of FPGA Based NURBS Interpolator and Motion Controller with Multiprocessor Technique. Chinese Journal of Mechanical Engineering, 2013, 26(5): 940-947.
71 Yang MJ, Gu GY, Zhu LM. Parameter Identification of the Generalized Prandtl-Ishlinskii Model for Piezoelectric Actuators Using Modified Particle Swarm Optimization. Sensors & Actuators: A. Physical, 2013, 189: 254-265.
72 Zhao H, Zhu LM, Ding H. Real-time Look-ahead Interpolation Methodology with Curvature-continuous B-spline Transition Scheme for CNC Machining of Short Line Segments. International Journal of Machine Tools and Manufacture, 2013, 65: 88-98.
73 Lai LJ, Zhou H, Zhu LM, et al. High Precision Electrochemical Micromachining Based on Confined Etchant Layer Technique. Electrochemistry Communications, 2013, 28: 135-138.
74 Zhu LM, Zhao H, Ding H. Real-time Contouring Error Estimation for Multi-axis Motion Systems Using the Second-order Approximation. International Journal of Machine Tools and Manufacture, 2013, 68: 75-80.
75 Gu GY, Zhu LM. Motion Control of Piezoceramic Actuators with Creep, Hysteresis and Vibration compensation. Sensors and Actuators: A. Physical, 2013, 197: 76-87.
76 Gu GY, Zhu LM, Su CY. Modeling and Compensation of Asymmetric Hysteresis Nonlinearity for Piezoceramic Actuators with a Modified Prandtl-Ishlinskii Model. IEEE Trans. On Industrial Electronics, 2014, 61(3): 1583-1595.
77 Ding Y, Zhu LM, Zhang XJ, Ding H. Chatter Stability Analysis of Milling via the Differential Quadrature Method. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2013, 135(3), 044502.
78 Jiang LM, Du YJ, Jia JC, Lai LJ, Zhou H, Zhu LM, Tian ZW, Tian ZQ, Zhan DP. Three Dimensional Micromachining on Aluminum Surface by Electrochemical Wet Stamping Technique. Electrochemistry Communications, 2013, 33: 119-122.
79 Zhao H, Zhu LM, Ding H. A Parametric Interpolator with Minimal Feed Fluctuation for CNC Machine Tools using Arc-length Compensation and Feedback Correction. International Journal of Machine Tools and Manufacture, 2013,75:1-8.
80 Zhou H, Lai LJ, Du YJ, Zhang L, Zhu LM. Fabrication of Microstructures on GaAs with Pulsed Electrochemical Wet Stamping. Electrochimica Acta, 2013, 111: 680-384.
81 Luo C, Zhu LM, Ding H. A Unified Distance Function Framework for Workpiece Fixturing Modeling and Analysis. IEEE Trans. on Automation Science and Engineering, 2013, 10(4): 1166-1172.
82 Gu GY, Zhu LM, Su CY. Integral Resonant Damping for High-bandwidth Control of Piezoceramic Stack Actuators with Asymmetric Hysteresis Nonlinearity. Mechatronics, 2014, 24: 367-375.
83 Gu GY, Zhu LM, Li Z, Su CY. A Comprehensive Dynamic Modeling Approach for Giant Magnetostrictive Material Actuators. Smart Materials and Structures, 2013, 22(12), 125005.
84 Niu JB, Ding Y, Zhu LM, Ding H. Runge-Kutta Methods for Semi-analytical Prediction of Milling Stability. Nonlinear Dynamics, 2014, 76(1):289-304.
85 Li CX, Gu GY, Yang MJ, Zhu LM. Design, Analysis and Testing of a Parallel-kinematic High-bandwidth XY Nanopositioning Stage. Review of Scientific Instruments, 2013, 84, 125111.
86 Lai LJ, Zhou H, Du YJ, Li CX, Zhang L, Jiang LM, Zhu LM. Electrochemical micromachining with wet stamping: instrument design and experimental investigation. Precision Engineering, 2014, 38(3): 569-577.
87 Yang MJ, Gu GY, Zhu LM. High-bandwidth tracking control of piezo-actuated nanopositioning stages using closed-loop input shaper. Mechatronics, 2014, 24(6): 724-733.
88 Li ZL, Zhu LM. Envelope Surface Modeling and Tool Path Optimization for Five-axis Flank Milling Considering Cutter Runout. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2014, 136(4), 041021.
89 Zhou H, Lai LJ, Zhao XH, Zhu LM. Development of an electrochemical micromachining instrument for the confined etching techniques. Review of Scientific Instruments, 2014, 85(4), 045122.
90 Gu GY, Zhu LM. An experimental comparison of proportional-integral, sliding mode, and robust adaptive control for piezo-actuated nanopositioning stages. Review of Scientific Instruments, 2014, 85(5), 055112.
91 Zhao H, Lu YA, Zhu LM, Ding H. Look-ahead Interpolation of Short Line Segments Using B-spline Curve Fitting of Dominant Points. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2015, 229: 1131-1143.
92 Gu GY, Zhu LM. Comparative experiments regarding approaches to feedforward hysteresis compensation for piezoceramic actuators. Smart Materials and Structures, 2014, 23(9), 095029.
93 Gu GY, Zhu LM, Su CY. High-precision Control of Piezoelectric Nanopositioning Stages using Hysteresis Compensator and Disturbance Observer. Smart Materials and Structures, 2014, 23(10), 105007.
94 Zhu LM, Lu YA. Geometric Conditions for Tangent Continuity of Swept Tool Envelopes with Application to Multi-pass Flank Milling. Computer-Aided Design, 2015, 59: 43-49.
95 Yang MJ, Gu GY, Zhu LM. A modified Prandtl-Ishlinskii model for rate-dependent hysteresis nonlinearity using mth-power velocity damping mechanism. International Journal of Advanced Robotic Systems, 2014, 11: 163.
96 Gu GY, Zhu LM, Su CY, Ding H, Fatikow S. Modeling and control of piezo-actuated nanopositioning stages: A survey. IEEE Trans. on Automation Science and Engineering, 2016,13(1):313-332.
97 Lu YA, Bi QZ, Zhu LM. Five-axis flank milling of impellers: optimal geometry of a conical tool considering stiffness and geometric constraints. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2016,230(1):38-52.
98 Shi J, Bi QZ, Zhu LM, Wang YH. Corner rounding of linear five-axis tool path by dual PH curves blending. International Journal of Machine Tools and Manufacture, 2015, 88: 223-236.
99 Ding Y, Zhu LM, Ding H. A Wavelet-based Approach for Stability Analysis of Periodic Delay-differential Systems with Discrete Delay, Nonlinear Dynamics, 2015, 79(2): 1049-1059.
100 Gu GY, Zhu LM, Su CY, Fatikow S. Proxy-based sliding mode tracking control of piezoelectric-actuated nanopositioning stages. IEEE/ASME Trans. on Mechatronics, 2015, 20(4): 1956-1964.
101 Ding Y, Niu JB, Zhu LM, Ding H. Differential Quadrature Method for Stability Analysis of Dynamic Systems with Multiple Delays: Application to Simultaneous Machining Operations. Trans of the ASME, Journal of Vibration and Acoustics, 2015, 137(2), 024501.
102 Bi QZ, Huang ND, Sun C, Wang YH, Zhu LM, Ding H. Identification and compensation of geometric errors of rotary axes on five-axis machine by on machine measurement. International Journal of Machine Tools and Manufacture, 2015, 89: 182-191.
103 Bi QZ, Shi J, Wang YH, Zhu LM, Ding H. Analytical Curvature-continuous Dual-Bézier Corner Transition for Five-axis Linear Tool Path. International Journal of Machine Tools and Manufacture, 2015, 91: 96-108.
104 Niu JB, Ding Y, Zhu LM, Ding H. Eigenvalue assignment for control of time-delay systems via the generalized Runge-Kutta method. Trans. Of the ASME, Journal of Dynamic Systems, Measurement and Control, 2015, 137(5), 091003.
105 Gu GY, Zhu LM, Su CY. On robust inverse compensation and control of a class of nonlinear systems with unknown asymmetric backlash nonlinearity. IET Control Theory & Applications, 2015, 9(12): 1869-1877.
106 Li CX, Gu GY, Yang MJ, Zhu LM. High-speed tracking of a nanopositioning stage using MRC. IEEE Transactions on Automation Science and Engineering, 2017, 14(3): 1467-1477.
107 Zhao H, Zhu LM, Ding H. Cross-coupled controller design for triaxial motion systems based on second-order contour error estimation. SCIENCE CHINA Technological Sciences, 2015, 58(7): 1209-1217.
108 Li ZL, Wang XZ, Niu JB, Zhu LM. Mechanistic Modeling of Five-Axis Machining with a General End Mill Considering Cutter Runout. International Journal of Machine Tools and Manufacture, 2015, 96: 67-79.
109 Yang MJ, Niu JB, Li CX, Gu GY, Zhu LM. High-bandwidth control of nanopositioning stages via an inner-loop delayed position feedback. IEEE Transactions on Automation Science and Engineering, 2015,12(4): 1357-1368.
110 Lu YA, Ding Y, Zhu LM. Simultaneous Optimization of the Feed Direction and Tool Orientation in 5-axis Flat-end Milling. International Journal of Production Research, 2016, 54(15): 4537-4546.
111 Gu GY, Gupta U, Zhu J, Zhu LM, Zhu XY. Feedforward deformation control of a dielectric elastomer actuator based on a nonlinear dynamic model. Applied Physics Letters, 2015,107, 042907.
112 Gu GY, Li CX, Zhu LM, Su CY. Modeling and identification of piezoelectric-actuated stages cascading hysteresis nonlinearity with linear dynamics. IEEE/ASME Trans. on Mechatronics, 2016, 21(3): 1792-1797.
113 Ding Y, Niu NB, Zhu LM, Ding H. Numerical Integration Method for Stability Analysis of Milling with Variable Spindle Speeds. Trans of the ASME, Journal of Vibration and Acoustics, 2016,138(1),011010.
114 Yang MJ, Li CX, Gu GY, Zhu LM. Modeling and compensating the dynamic hysteresis of piezoelectric actuators via a modified rate-dependent Prandtl-Ishlinskii model. Smart Materials and Structures, 2015,24,125006.
115 Li ZL, Wang XZ, Zhu LM. Arc-surface intersection method to calculate cutter-workpiece engagements for generic cutter in five-axis milling. Computer-Aided Design, 2016,73:1-10.
116 Lai LJ, Zhou H, Zhu LM. Fabrication of microlens array on silicon surface using electrochemical wet stamping technique. Applied Surface Science, 2016, 364: 442-445.
117 Huang J, Zhu LM. Feedrate scheduling for interpolation of parametric tool path using the Sine series representation of jerk profile. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2017, 231(13): 2359-2371.
118 Lu YA, Ding Y, Zhu LM. Smooth tool path optimization for flank milling based on the gradient-based differential evolution method. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2016,138(8), 081009.
119 Niu JB, Ding Y, Zhu LM, Ding H. Stability analysis of milling processes with periodic spindle speed variation via the variable-step numerical integration method. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2016, 138(11): 114501.
120 Li CX, Gu GY, Su CY, Zhu LM. Odd-harmonic repetitive control for high-speed raster scanning of piezo-actuated nanopositioning stages with hysteresis nonlinearity. Sensors and Actuators: A. Physical, 2016, 244: 95-105.
121 Li ZL, Zhu LM. Mechanistic modeling of five-axis machining with a flat end mill considering bottom edge cutting effect.Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2016, 138(11): 111012.
122 Zou J, Gu GY, Zhu LM. Open-loop control of creep and vibration in dielectric elastomer actuators with phenomenological models. IEEE/ASME Trans. on Mechatronics, 2017, 22(1): 51-58.
123 Lu YA, Ding Y, Zhu LM. Tool path generation via the multi-criteria optimization for flat-end milling of sculptured surfaces. International Journal of Production Research, 2017, 55(15): 4361-4282.
124 Gu GY, Zhu J, Zhu LM, Zhu XY. A survey on dielectric elastomer actuators for soft robots. Bioinspiration & Biomimetics, 2017, 12(1): 011003.
125 Lu YA, Ding Y, Peng ZK, Chen ZZ, Zhu LM. A spline-based method for stability analysis of milling processes. International Journal of Advanced Manufacturing Technology, 2017, 89(9): 2571-2586.
126 Lu YA, Ding Y, Zhu LM. Dynamics and stability prediction of five-axis flat-end milling. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2017, 139(6), 061015.
127 Xu L, Chen HQ, Zou J, Dong WT, Gu GY, Zhu LM, Zhu XY. Bio-inspired annelid robot: a dielectric elastomer actuated soft robot. Bioinspiration & Biomimetics, 2017, 12(2): 025003.
128 Wang XZ, Bi QZ, Zhu LM, Ding H. Improved forecasting compensatory control to guarantee the remaining wall thickness for pocket milling of a large thin-walled part. International Journal of Advanced Manufacturing Technology, 2018, 94(5–8): 1677-1688.
129 Li CX, Ding Y, Gu GY, Zhu LM. Damping control of piezo-actuated nanopositioning stages with recursive delayed position feedback. IEEE/ASME Trans. on Mechatronics, 2017, 22(2): 855-864.
130 Du X, Huang J, Zhu LM. A locally optimal transition method with analytical calculation of transition length for CNC machining of short line segments. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2018, 232(13): 2409-2419.
131 Huang J, Du X, Zhu LM. Parallel acceleration/deceleration feedrate scheduling for CNC machine tools based on bi-directional scanning technique. Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, 2019, 233(3): 937-947.
132 Li ZL, Ding Y, Zhu LM. Accurate cutting force prediction of helical milling operations considering the cutter runout effect. International Journal of Advanced Manufacturing Technology, 2017, 92(9-12): 4133-4144.
133 Li ZL, Zhu LM. An accurate method for determining cutter-workpiece engagements in five-axis milling with a general tool considering cutter runout. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2018, 140(2): 021001
134 Gu GY, Gupta U, Zhu J, Zhu LM, Zhu XY. Modeling of viscoelastic electromechanical behavior in a soft dielectric elastomer actuator. IEEE Trans. on Robotics, 2017, 33(5): 1263-1271.
135 Li LL, Li CX, Gu GY, Zhu LM. Positive acceleration, velocity and position feedback based damping control approach for piezo-actuated nanopositioning stages. Mechatronics, 2017, 47: 97-104.
136 Tang L, Wang JG, Zheng Y, Gu GY, Zhu LM, Zhu XY. Design of a cable-driven hyper-redundant robot with experimental validation. International Journal of Advanced Robotic Systems, 2017, 14(5): 1729881417734458.
137 Niu JB, Ding Y, Zhu LM, Ding H. Mechanics and multi-regenerative stability of variable pitch and variable helix milling tools considering runout. International Journal of Machine Tools and Manufacture, 2017, 123: 129-145.
138 Huang J, Du X, Zhu LM. Real-time local smoothing for five-axis linear toolpath considering smoothing error constraints. International Journal of Machine Tools and Manufacture, 2018, 124: 67-79.
139 Xiong G, Ding Y, Zhu LM, Su CY. A POE-based robot calibration method with optimal measurement configurations. International Journal of Advanced Robotic Systems, 2017, 14(6): 1729881417743555.
140 Du X, Huang J, Zhu LM, Ding H. Third-order chord error estimation for freeform contour in CAM and CNC systems. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2019, 233(3): 863-874.
141 Bi QZ, Wang XZ, Chen H, Zhu LM, Ding H. Non-normal dynamic analysis for predicting transient milling stability. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 2018, 140(8), 084501.
142 Shen Yj, Zhang X, Cheng W, Zhu LM. Quasi-eccentricity error modeling and compensation in vision metrology. Measurement Science and Technology, 2018, 29(4): 045006.
143 Li ZL, Tuysuz O, Zhu LM, Altintas Y. Surface form error prediction in five-axis flank milling of thin-walled parts. International Journal of Machine Tools and Manufacture, 2018, 128: 21-32.
144 Lu YA, Ding Y, Zhu LM, Wang CY. Tool path generation for five-axis machining of blisks with barrel cutters. International Journal of Production Research, 2019, 57(5): 1300-1314.
145 Xiong G, Ding Y, Zhu LM. Stiffness-based pose optimization of an industrial robot for five-axis milling. Robotics and Computer-Integrated Manufacturing, 2019, 55: 19-28.
146 Li ZL, Zhu LM. Compensation of deformation errors in five-axis flank milling of thin-walled parts via tool path optimization. Precision Engineering, 2019, 55: 77-87.
147 Niu JB, Ding Y, Geng ZM, Zhu LM, Ding H. Patterns of regenerative milling chatter under joint influences of cutting parameters, tool geometries and runout. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2018, 140(12): 121004.
148 Huang J, Lu YA, Zhu LM. Real-time feedrate scheduling for five-axis machining by simultaneously planning linear and angular trajectories. International Journal of Machine Tools and Manufacture, 2018, 135: 78-96.
149 BI QZ, Huang J, Lu YA, Zhu LM, Ding H. A general, fast and robust B-spline fitting scheme for micro-line tool path under chord error constraint. SCIENCE CHINA Technological Sciences, 2019, 62(2): 321-332.
150 BI QZ, Wang XZ, Wu Q, Zhu LM, Ding H. Fv-SVM based wall thickness error decomposition for adaptive machining of large skin parts. IEEE Transactions on Industrial Informatics, 2019, 15(4): 2426-2434.
151 Wu Q, Zhou GR, Zhu LM, Wei CF, Ren H, Sheng SF. Rotated sphere Haar wavelet and deep contractive auto-encoder network with fuzzy Gaussian SVM for pilot's pupil center detection. IEEE Transactions on Cybernetics, 2018 (Accepted).
152 Zhou WY, Ren MJ, Tao YD, Sun LJ, Zhu LM. Enhancing the metrological performance of non-raster scanning probe microscopy using Gaussian process regression. Measurement Science and Technology, 2019, 30(9): 095004.
153 Tao YD, Li HX, Zhu LM. Rate-dependent hysteresis modeling and compensation of piezoelectric actuators using Gaussian process. Sensors and Actuators: A. Physical, 2019, 295: 357-365.
154 Wang XZ, Li ZL, Bi QZ, Zhu LM, Ding H. An accelerated convergence approach for real-time deformation compensation in large thin-walled parts machining. International Journal of Machine Tools and Manufacture, 2019, 142: 98-106.
155 Wang XZ, Bi QZ, Chen T, Zhu LM, Ding H. Transient vibration analysis method for predicting the transient behavior of milling with variable spindle speeds. Trans. Of the ASME, Journal of Manufacturing Science and Engineering, 2019, 141(5): 051009.
156 Li LL, Li CX, Gu GY, Zhu LM. Modified repetitive control based cross-coupling compensation approach for a piezoelectric tube scanner of Atomic Force Microscopes. IEEE/ASME Transactions on Mechatronics, 2019, 24(2): 666–676.
157 Yang X, Zhu LM, Ni YB, Liu HT, Zhu WL, Shi H, Huang T. Modified robust dynamic tracking control for a diamond parallel robot. IEEE/ASME Transactions on Mechatronics, 2019, 24(3): 959–968.
158 Tang L, Huang J, Zhu LM, Zhu XY, Gu GY. Path Tracking of a Cable-Driven Snake Robot With a Two-Level Motion Planning Method. IEEE/ASME Transactions on Mechatronics, 2019, 24(3): 935–946.
159 Li LL, Gu GY, Zhu LM. Fractional repetitive control of nanopositioning stages for tracking high-frequency periodic inputs with nonsynchronized sampling. Review of Scientific Instruments, 2019, 90(5): 055108.
160 Ren MJ, Xiao GB, Zhu LM, Zeng WH, Whitehouse D. Model-driven photometric stereo for in-process inspection of non-diffuse curved surfaces. CIRP Annals–Manufacturing Technology, 2019, 68(1): 563–566.
161 Wu EQ. Zhu LM, Zhang WM, Deng PY, Jia B, Chen SD, Ren H, Zhou GR. Novel Nonlinear Approach for Real-Time Fatigue EEG Data: An Infinitely Warped Model of Weighted Permutation Entropy. IEEE Transactions on Intelligent Transportation Systems, 2019 (Accepted).
162 Xiong G, Li ZL, Ding Y, Zhu LM. Integration of Optimized Feedrate into an Online Adaptive Force Controller for Robot Milling. The International Journal of Advanced Manufacturing Technology, 2020, 106(3-4): 1533–1542.
163 Chen ZZ, Niu JB, Li ZL, Zhu LM. Chatter detection in milling processes using frequency-domain Rényi entropy. The International Journal of Advanced Manufacturing Technology, 2020, 106(3-4): 877–890.
164 Zhou WY, Ren MJ, Zhu LM. Reconstruction of multi-frame semi-sparse scanning probe microscopy images using dependent Gaussian process. Measurement Science and Technology, 2020, 31(4), 045013.
165 Xiong G, Li ZL, Ding Y, Zhu LM. A closed-loop error compensation method for robotic flank milling. Robotics and Computer-Integrated Manufacturing, 2020, 63, 101928.
166 Shen YJ, Zhang X, Wang ZY, Wang JX, Zhu LM. A robust and efficient calibration method for spot laser probe on CMM. Measurement, 2020, 154, 107523.
167 Wang ZY, Zhang X, Shen YJ, Zhu LM, Besse S. A novel 3D radius compensation method of probe stylus tip in the free-form surface profile curve scanning measurement. Measurement Science and Technology, 2020, DOI: 10.1088/1361-6501/ab786c.
168 Wu EQ, Hu DW, Deng PY, Tang ZR, Cao YL, Zhang WM, Zhu LM, Ren H. Non-parametric Bayesian prior inducing deep network for automatic detection of cognitive status. IEEE Transactions on Cybernetics, 2020, DOI:10.1109/TCYB.2020.2977267.
169 Du X, Huang J, Zhu LM, Ding H. An error-bounded B-spline curve approximation scheme using dominant points for CNC interpolation of micro-line toolpath. Robotics and Computer-Integrated Manufacturing, 2020, 64, 101930.
170 Zhang L, Xie J, Zhu LM. Experimental study on ductile-to-brittle behavior and crystal orientation in micro-crack induced severing of 4H-SiC and sapphire. Theoretical and Applied Fracture Mechanics, 2020, 106, 102481.
171 Wu EQ, Deng PY, Qu XY, Tang ZR, Zhang WM, Zhu LM, Ren H. Detecting fatigue status of pilots based on deep learning network using EEG signals. IEEE Transactions on Cognitive and Developmental Systems, 2020, DOI: 10.1109/TCDS.2019.2963476.
172 Chi ZQ, Xu QS, Zhu LM. A review of recent advances in robotic cell microinjection. IEEE Access, 2020, 8: 8520-8532.
173 Hu CX, Ou TS, Chang HN, Zhu Y, Zhu LM. Deep GRU neural-network prediction and feedforward compensation for precision multi-axis motion control systems. IEEE/ASME Transactions on Mechatronics, 2020, DOI: 10.1109/TMECH.2020.2975343.
174 Yang X, Zhu LM, Li SZ, Zhu WL, Ji C. Development of a novel pile-up structure based nanopositioning mechanism driven by piezoelectric actuator. IEEE/ASME Transactions on Mechatronics, 2020, 25(2): 502-512.
175 Li LL, Chen ZZ, Aphale SS, Zhu LM. Fractional repetitive control of nanopositioning stages for high-speed scanning using low-pass FIR variable fractional delay filter. IEEE/ASME Transactions on Mechatronics, 2020, 25(2): 547-557.
176 Ouyang LH, Shang H, Chen H, Bi QZ, Zhu LM. The mechanism on prediction of transient maximum amplitude for tuned and mistuned blisks. Transactions of the ASME, Journal of Engineering for Gas Turbines and Power, 2020, 142(5): 051013.
177 Ren MJ, Ren JJ, Wang X, Gao F, Zhu LM, Yao ZQ. Multi-scale measurement of high-reflective surfaces by integrating near-field photometric stereo with touch trigger probe. CIRP Annals–Manufacturing Technology, 2020, Accepted.
178 Tang L, Zhu LM, Zhu XY, Gu GY. Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms. Science China Technological Sciences, 2020, 63(2): 255–264.
179 Zhao DP, Zhu ZH, Huang P, Guo P, Zhu LM, Zhu ZW. Development of a piezoelectrically actuated dual-stage fast tool servo. Mechanical Systems and Signal Processing, 2020, 144, 106873.
180 Huang P, Wu XY, To S, Zhu LM, Zhu ZW. Deterioration of form accuracy induced by servo dynamics errors and real-time compensation for slow tool servo diamond turning of complex-shaped optics. International Journal of Machine Tools and Manufacture, 2020, 154, 103556.
181 Hu CX, Ou TS, Zhu Y, Zhu LM. GRU-type LARC strategy for precision motion control with accurate tracking error prediction. IEEE Transactions on Industrial Electronics, 2020, DOI: 10.1109/TIE.2020.2991997.
182 Li LL, Huang J, Aphale SS, Zhu LM. A smoothed raster scanning trajectory based on acceleration-continuous B-spline transition for high-speed Atomic Force Microscopy. IEEE/ASME Transactions on Mechatronics, 2020, DOI: 10.1109/TMECH.2020.2995156.
183 Li LL, Aphale SS, Zhu LM. Enhanced Odd-harmonic Repetitive Control of nanopositioning stages using spectrum-selection filtering scheme for high-speed raster scanning. IEEE Transactions on Automation Science and Engineering, 2020, DOI: 10.1109/TASE.2020.2995444.
184 Tao YD, Zhu ZW, Xu QS, Li HX, Zhu LM. Tracking control of nanopositioning stages using parallel resonant controllers for high-speed non-raster sequential scanning. IEEE Transactions on Automation Science and Technology, 2020, Accepted.
185 Yang M, Yang JX, Zhu LM, Yu X. A novel curvature circle iterative algorithm for contour error control of multi-axis CNC machine tools. Precision Engineering, 2020, Accepted.
186 Tao YD, Li HX, Zhu LM. Hysteresis modeling with frequency-separation-based Gaussian process and its application to sinusoidal scanning for fast imaging of atomic force microscope. Sensors & Actuators: A. Physical, 2020, Accepted.
187 Du X, Huang J, Zhu LM, Ding H. Sliding mode control with third-order contour error estimation for free-form contour following. Precision Engineering, 2020
188 Wu EQ, Zhou MC, Hu DW, Zhu L, Tang ZR, Qiu XY, Deng PY, Zhu LM, Ren H. Self-paced Dynamic Infinite Mixture Model for Fatigue Evaluation of Pilots』Brain. IEEE Transactions on Cybernetics, 2020
189 Tao YD, Li HX, Zhu LM. Time/space-separation-based Gaussian process modeling for the cross-coupling effect of a 2-DOF nanopositioning stage. IEEE/ASME Transactions on Mechatronics, 2020
190 Sheng XJ, Tang L, Huang XJ, Zhu LM, Zhu XY, Gu GY. Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots. Science China Technological Sciences, 2020.
191 Li LL, Aphale SS, Zhu LM. High-bandwidth nanopositioning via active control of system resonance. Frontiers of Mechanical Engineering, 2020
192 Huang WW, Zhang Y, Zhang XQ, Zhu LM. Wall thickness error prediction and compensation in end milling of thin-plate parts. Precision Engineering, 2020
193 Wang Z, Hu CX, Zhu Y, Zhu LM. Prediction model based contouring error iterative pre-compensation scheme for precision multi-axis motion systems. IEEE/ASME Transactions on Mechatronics, 2020
194 Wang WX, Hu CX, Zhou K, He SQ, Zhu LM. Local asymmetrical corner trajectory smoothing with bidirectional planning and adjusting algorithm for CNC machining. Robotics and Computer-Integrated Manufacturing, 2020
195 Wang JY, Lin SZ, Hu CX, Zhu Y, Zhu LM. Learning semantic keypoint representations for door opening manipulation. IEEE Robotics and Automation Letters, 2020
196 Ou TS, Hu CX, Zhu Y, Zhang M, Zhu LM. Intelligent feedforward compensation motion control of maglev planar motor with precise reference modification prediction. IEEE Transactions on Industrial Electronics, 2020
197 Wang XY, Zhu LM, Huang H. A dynamic model of stick-slip piezoelectric actuators considering the deformation of overall system. IEEE Transactions on Industrial Electronics, 2020
中文期刊論文：
1 朱利民, 鍾秉林, 黃仁, 離散頻譜多點卷積幅值修正法的理論分析. 振動工程學報, 1999,12(1): 120-125.
2 朱利民, 鍾秉林, 黃仁, 齒輪故障振動信號檢波解調分析中的混頻效應. 振動工程學報, 1999, 12(3): 331-337.
3 朱利民, 賈民平, 鍾秉林等. 振動信號短時處理方法及其在機械故障診斷中的應用. 振動工程學報，2000, 13(3): 401-405.
4 朱利民, 鍾秉林, 熊有倫. 變速機械弱時變響應信號處理的離散頻譜多點平均法. 振動工程學報，2001, 14(1): 47-52.
5 朱利民, 熊有倫. 一個通用的頻譜誤差校正快速算法. 振動工程學報, 2001, 14(2): 166-171.
6 朱利民, 熊有倫. 解調分析中差頻現象的理論分析及細化頻譜/解調分析集成算法. 振動工程學報，2001, 14(4): 409-413.
7 丁漢, 朱利民, 熊振華. 複雜曲面快速測量、建模及基於測量點雲的RP和NC加工. 機械工程學報, 2003, 39(11): 28-37.
8 丁漢, 朱利民, 林忠欽. 面向晶片封裝的高加速度運動系統的精確定位和操作. 自然科學進展, 2003, 13(6): 568-574.
9 朱利民,牛新文,鍾秉林,丁漢. 振動信號短時功率譜時-頻二維特徵提取方法及應用. 振動工程學報，2004, 17(4): 522-527.
10 朱利民, 賀恩華. 梳狀濾波陣圖及其應用. 機械工程學報, 2006, 42(5): 1-5.
11 羅紅根, 朱利民, 丁漢. 基於主動輪廓模型和水平集方法的圖像分割技術. 中國圖象圖形學報, 2006, 11 (03): 301-309.
12 羅晨, 朱利民, 丁漢. 基於距離函數的運動生成曲面的識別和重構的方法. 機械工程學報, 2009, 45(10): 151-158.
13 朱利民, 鄭剛, 張小明, 丁漢. 刀具空間運動掃掠體包絡面建模的雙參數球族包絡方法. 機械工程學報，2010, 46(5): 145-149.
14 朱利民, 鄭剛, 丁漢. 圓錐刀五軸側銑加工刀具路徑整體優化原理與方法. 機械工程學報, 2010, 46(23): 174-179.
15 張小明, 朱利民, 丁漢, 趙燦. 五軸加工刀具姿態球面NURBS 曲線設計及優化. 機械工程學報, 2010, 46(17): 140-144.
16 羅晨, 朱利民, 丁漢. 夾具定位分析的雙邊二次方法. 機械工程學報, 2011, 47(3): 103-108.
17 張旭, 朱利民. Gamma畸變的相位誤差模型與Gamma標定技術. 光學學報, 2012, 32(4): 0412006.
18 羅晨, 朱利民, 丁漢. 夾具定位分析模型的統計特徵及相對誤差分析. 機械工程學報, 2013, 49(5): 100-115.
19 林忠欽, 來新民, 金隼, 王皓, 朱利民, 陳關龍. 複雜產品製造精度控制的數位化方法及其發展趨勢. 機械工程學報, 2013, 49(6): 103-113.
20 朱利民，盧耀安. 迴轉刀具側銑加工掃掠包絡面幾何造型及其應用. 機械工程學報, 2013, 49(7): 176-183.
21 趙歡, 朱利民, 丁漢. 基於高精度輪廓誤差估計的交叉耦合控制研究. 機械工程學報, 2014, 50(3): 158-164.
22 聶強, 黃凱, 畢慶貞, 朱利民. 微銑削中考慮刀具跳動的瞬時切厚解析計算方法. 機械工程學報,2016,52(3): 169-178.教學工作
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