复杂曲面零件多轴联动数控加工与数字化测量核心技术
朱利民：瞄准国家重大需求，突破智能与精密制造核心技术
朱利民及其团队部分骨干成员
在《中国制造2025》战略中，高档数控机床和机器人的研发是国家的重大战略需求，也是国家大力推动的重点科研领域，更是新一轮科技革命和产业变革中必须直面的重大挑战。
上海交通大学教授、机械与动力工程学院智能制造与信息工程研究所所长朱利民长期从事复杂曲面零件高效精密数控加工理论与技术研究，从数控编程、工艺力学、三维测量、运动控制到数控系统与机床，取得了系统性成果，在航天、航空和汽车发动机制造企业获得重要应用。
同时，朱利民领导团队瞄准机器人、人工智能等国际学术前沿热点，结合大型构件现场加工与装配作业需求，将数控和机器人技术相结合，开拓机器人化智能制造装备研究，与兄弟单位合作研发了大型薄壁零件双机器人镜像铣削加工技术与装备。
近期，朱利民在学校的重点支持下，面向国家对超精密制造的重大需求，发挥团队前期在五轴联动数控加工、超声辅助加工、加工-检测一体化、精密运动控制等方面的研究优势，积极布局5+X轴高效超精密切削、多能场辅助超精密切削、近原子尺度抛光等研究，已初见成效。
在朱利民看来，做科研不仅需要持之以恒，耐得住寂寞；更要志向远大，随着国家重大需求和国际学科前沿的发展，不断开拓进取。
潜心钻研十五载，突破复杂曲面零件多轴联动数控加工与数字化测量核心技术
叶轮、叶片类复杂曲面零件在运载、能源和国防等行业有着广泛应用，直接关系国民经济发展和国防安全，20世纪90年代我国在相关制造理论与技术方面与西方国家存在着巨大差距。叶片面型复杂、壁薄，整体叶轮相邻叶片间重叠区域大、通道深而窄，刀具易与零件发生干涉，因此刀具与零件曲面几何失配、加工振动和加工变形等问题非常突出。朱利民自1999年底跟随熊有伦院士从事博士后研究开始，在复杂曲面多轴联动数控加工与数字化测量方向潜心耕耘十余年，先后参与了熊有伦院士主持的国家自然科学基金重大项目和丁汉院士主持的两期国家原“973”计划项目，逐渐成长为学术带头人，在加工成形几何学原理、动力学判稳方法、几何误差评定模型三个方面取得突破性学术进展。
他们提出了自由曲面非球头刀宽行数控加工的几何学原理和刀位规划方法。五轴联动数控加工的一大优势在于通过调整刀具姿态，使得刀触点轨迹线附近的刀具包络曲面充分逼近设计曲面，从而显著提高切削行宽。宽行加工包括局域高阶密切和宏域曲率匹配两种思路。对于自由曲面，已有理论仅支持二阶密切加工，三阶密切和宏域匹配的几何学条件尚不清楚。单个刀位下能否计算刀具包络面、刀轴轨迹调整如何影响刀具包络面是困扰学界多年的难题，成为制约五轴联动宽行加工潜力发挥的瓶颈。朱利民探明了接触曲面间的相伴关系，由刀具包络曲面与刀具曲面和设计曲面间的线接触关系，建立了单个刀位下刀具包络面局部三阶估计的基本方程，发现了刀具包络面与设计曲面在刀触点的三阶密切条件，进而提出了点接触加工的三阶密切法，与二阶密切法相比，有效切削行宽提高一倍以上。进一步，他建立了一般回转刀具扫掠体包络面的解析表达式及其与设计曲面间的法向误差关于刀具轨迹和刀具形状调整的微分关系，将刀具面族包络向设计曲面的整体逼近误差控制转化为对刀轴轨迹面和刀具曲面的形状控制，由此提出了线接触加工的整体逼近法，将侧铣加工的范围从圆柱刀扩展到一般回转刀具，从单行加工扩展到多行切向连续加工，从直纹面扩展到一般自由曲面。CIRP Fellow、法国学者Bernard教授在综述论文中将该成果列入“1979-2012年五轴侧铣加工发展路线图”，认为提出了误差控制和刀位优化的新概念新方法，是“创新和令人振奋”的工作。
他们提出了点-曲面距离函数的微分理论，建立了散乱点云曲面逼近的统一方法体系。三维测量在复杂曲面数字化制造中的应用已从最初的误差评定和逆向工程扩展到配对加工、自适应加工等多个方面。大规模测量点云必须经过几何要素拟合才能得到所期望的决策信息，计算效率和稳定性问题非常突出。已有方法多是“一把钥匙开一把锁”，仅仅适合某种问题或某种曲面，缺乏规律性认识导致对某一类问题很有效的方法无法扩展应用到其他领域，不同应用领域的先进方法的优点难以集成于一体，特别是对于新的应用，需要经过长时期的摸索才能找到合适的方法。朱利民定义了点-曲面有向距离函数用以度量点到曲面的偏差，建立了距离函数的可微性条件及其一、二阶导数的解析计算方法。将各类曲面拟合问题统一表示为对点-曲面距离有特定要求的最优化问题，由距离函数的微分性质设计出高效稳健的曲面识别、重建、寻位、误差评定与分解、面形再设计等三维点云数据分析新算法。进一步，他拓展建立了点-曲线和曲面-曲面距离函数的微分理论，将轮廓跟踪控制、夹持完全约束性判别和夹具定位误差分析中的传统“一阶”方法提升为“二阶”，在精度方面取得显著突破。上述工作形成了完整的点-曲线-曲面间距离函数的微分理论，为“装备-工具-零件”间动态几何关系的表达、推理与计算提供了建模工具。米兰理工大学Moroni教授评价他提出的几何误差评定算法“远胜其他方法，最精致、计算速度最快、最有前景”。以上曲面加工与测量的几何学新原理和新方法作为重要创新点之一获得2012年国家自然科学奖二等奖。
他们提出了数控铣削加工稳定性与动态误差同步预报的高效通用方法——全离散法。铣削加工中的颤振是导致零件表面缺陷，甚至刀具和机床损坏的主要原因之一，加工稳定性判别与动态误差预测是实现高质量、高效率加工的基础。国际上加工动力学分析的主流方法是频域法和时域半离散法，这两种方法在计算效率和通用性方面均存在着一定的不足，特别是不能预报由加工振动引起的表面位置误差。五轴高速加工的特点是高转速、高进给、时变径向切深，因此需要能够预报加工稳定性和加工误差的高效率、通用计算方法。朱利民和团队突破半离散法基于微分方程的思路，建立了铣削动力学系统的积分方程模型，提出了积分格式动态响应计算的全离散法，可同时预报加工稳定性和表面位置误差，适用于大／小径向／轴向切深、多时滞效应、结构模态耦合、非线性切削力、薄壁件等多种工况，与半离散法相比，收敛阶数提高一阶，计算效率提高一个数量级。进一步，他们提出了积分方程模型灵敏度分析的半解析方法，获得了参数不确定动力学模型的保守解，实现了工艺参数的稳健优化。半离散法创立者Insperger教授专门撰文评价全离散法“计算效率高、在应用上有优势”，并在和匈牙利科学院工程部主席、匈牙利科学院和欧洲科学院两院院士Stépán教授合著的专著Semi-discretization for time-delay systems中整节专门介绍了该方法。前NASA研究员Omenyi评价全离散法“能深刻揭示铣削加工的各种稳定性特征，实现了计算效率上的突破，是开创性方法”。全离散法现已成为切削动力学研究的基本工具，被国内外学者广泛使用。该成果获得2017年高等学校科学研究优秀成果奖自然科学奖一等奖。
在理论方法突破的基础上，朱利民领导团队研究解决了刀具全局可达方向锥高效计算、考虑刀具跳动和底刃切削影响的五轴铣削力预报、基于测量反馈的薄壁件加工变形误差无模型迭代消减、薄壁件侧/端铣加工变形预测与刀路修正补偿、变参数（变进给/变转速/变齿距）加工、五轴线性刀具路径的实时G2连续转接光顺、刀尖点平动和刀轴转动同步速度规划、多轴交叉耦合控制、FPGA高速插补、旋转轴几何误差辨识与补偿等一批关键技术；与企业合作研发了五轴数控系统和五轴机床摆头传动部件，形成了五轴数控机床的自主研制能力；研发了叶轮类零件五轴数控加工CAM软件和成套工艺技术，在航天、航空和汽车发动机制造企业获得重要应用，使大型液体火箭发动机诱导轮批量生产效率提高4倍以上。他还主持研制了四轴叶片测量专机，其控制器支持多种类型的电机和测头进行多轴联动扫描测量，独有的专利技术“叶片截面接触式扫描探针半径三维补偿方法”将叶片测量精度提升30%，叶片分析软件符合中航工业标准，该测量设备已在航空发动机企业获得应用。
瞄准智能制造热点，积极开拓大型复杂构件机器人加工技术与装备研究
2010年以来，机器人加工作为智能制造研究的一个重要突破口已引起世界工业强国的高度关注。欧盟连续资助了COMET（2010.9-2013.6，772万欧元）、HEPHESTOS（2012.9-2015.10，335万欧元）和MEGAROB（2012.11-2015.10，434万欧元）3项关节型工业机器人加工方面的重大项目，分别针对高精度（小于50um）、硬质材料（钢、铬镍铁合金）、超大零件（10m以上）等应用场景开展研究。在这些计划提出的初期，朱利民即敏锐地察觉出机器人化智能制造装备的广阔发展前景。他认为，相比于数控机床，机器人具有运动灵活度高、工作空间大、并行协调作业能力强等优势，同时机器人常用的感知功能，如机器视觉和力觉以及相应的视觉伺服和力/位混合控制技术日臻成熟。以机器人作为装备的执行体，并且配以强大的感知功能，基于工艺知识模型与多传感器反馈信息对运行参数进行滚动优化，将突破传统制造装备仅关注各运动轴位置和速度控制的局限，形成装备对工艺过程的主动控制能力，同时可根据用户需要配备AGV或长行程导轨构建形式多样的移动机器人平台，创建多机器人协同作业的“能工巧匠”型机器人装备，在超大零件的分段自寻位并行加工中具有显著优势。
2013年起朱利民迈入机器人加工研究领域，并参与了国家自然科学基金委员会“共融机器人基础理论与关键技术研究”重大研究计划的论证工作，经过数年预研，2016年由他牵头申请的国家自然科学基金重点项目“蒙皮镜像加工机器人系统的主动顺应与协调控制研究”获得立项。该项目针对航空航天领域长厚比>1000的“极端”弱刚性大型蒙皮构件的壁厚加工精度保障难题，旨在将混联机器人装备技术和数字化加工技术相结合，创建双机器人“切削加工与误差补偿+随动支撑与壁厚测量”协同作业的镜像加工新原理和新装备。由上海交通大学、天津大学和上海拓璞数控科技有限公司组成的科研团队密切合作，经过3年多的研究取得了丰硕的成果：发明了新型位置型1T2R并联机构，提出了尺度综合和支链模块化、整机轻量化设计方法，研制出五轴混联加工机器人；发明了集成薄壁件法向测量与壁厚测量、“中心刚性支撑+四周柔性气动支撑”形式的刚柔混合支撑头，获得了柔性气动支撑中气缸气压对抑振效果的影响规律；制定了双机器人等壁厚镜像铣削协同运动控制方案，设计出“支撑端壁厚测量+加工端切深补偿”形式的加工壁厚实时控制系统，加工实验中大型弱刚性壁板零件的壁厚稳定控制在2±0.1mm以内。
同时，朱利民领导团队还开展了面向机器人加工的大尺度空间精确自主寻位与加工质量原位检测技术研究。他们提出了集iGPS、激光跟踪仪、近景摄影测量、多模态三维光学测量于一体的全域跨尺度立体传感定位与测量方案，旨在通过激光跟踪仪建立全局时空信息传感网络，利用iGPS与近景摄影测量粗精分级测量策略，实现机器人在超大空间中的亚毫米级自主寻位与微米级精准作业；在加工表面形貌测量方面，他们以非朗伯复杂曲面光反射模型为基础，提出了集成光度摄影成像、条纹投影成像和条纹偏折成像的多模态三维光学测量方法，基于光度摄影成像分析表面散射与反射耦合机制，通过物理模型驱动的计算成像，对条纹投影、偏折参数进行像素级调制及数据融合，实现了对精加工金属构件从局部纹理到全局形状的跨尺度测量。相关技术正尝试应用于风电叶片、航天器舱体等典型大型复杂构件的机器人加工系统中。
面向极端制造学术前沿，前瞻布局原子及近原子尺度制造研究
高效与精密是加工制造技术永恒的追求。超精密制造可以获得亚微米级形位精度、纳米/亚纳米级表面粗糙度及近无表层缺陷的高性能表面与功能结构，代表了迄今精密制造技术的最高发展阶段。朱利民领导团队从2010年起，针对超精密机床的快速伺服刀架、原子力显微镜的扫描器等纳米定位平台向超快方向发展的需求，从机构设计、动力学建模、轨迹规划、运动控制等方面开展了系统研究，建立了反映制动器迟滞与机构振动耦合行为的纳米定位平台非线性动力学模型，提出同时提升平台谐振模态阻尼和刚度的振动模态控制方法，辅以外环高增益鲁棒跟踪控制器，获得了接近甚至超越平台机构固有谐振频率的控制带宽，成果被国际同行评价为“主流方法”“通用模型”。
近年来，军事和民用高端装备的重大需求，使得超高精度、高性能表面与功能结构零件的制造技术成为各制造强国优先发展的重要战略性技术，并进一步朝着原子及近原子尺度制造的方向发展。瞄准此项极端制造学术前沿，朱利民从2018年起在学校、学院和国家重点实验室的大力支持下，主持建设超精密制造方向，一方面，发挥团队前期在五轴联动数控加工、超声辅助加工、高带宽纳米定位等方面的研究优势，重点开展面向复杂结构的5+X轴高效超精密切削和面向难加工材料的多能场辅助超精密切削技术研究；同时，与英国皇家工程院院士蒋向前教授领衔的英国国家未来计量联盟进行深度合作，研发下一代加工-检测一体化智能超精密机床。另一方面，前瞻探索基于大气等离子体的原子尺度抛光，基于探针的原子级加工、测量和操纵等（近）原子尺度制造技术。依托上海交通大学科技园及大零号湾计划，团队已建成约3000平方米的超精密制造研究中心，包括超精密加工及检测实验室、光学成型及镀膜洁净室、光学设计及方案展示中心等，拥有多台套全球领先的五轴联动超精密机床和超精密检测仪器。目前，团队已通过技术创新，为华为、晶方科技、舜宇光学、成都光明等领军企业加工出大尺寸微纳菲涅尔结构模具、钨合金微球阵列模具、晶圆级光学微结构模具等高附加值产品，实现了进口替代。朱利民展望说道：“我们预期经过5年建设，将在下一代光学和半导体超精密制造方面形成一批自主的特色技术、工艺和装备，建成国际一流的超精密加工、检测及中试平台，服务国防、能源、航空航天等国家重大工程以及集成电路、消费电子、光通信、汽车等产业。”
http://me.sjtu.edu.cn/teacher_directory1/zhulimin.html
朱利民，上海交通大学机械与动力工程学院智能制造与信息工程研究所所长、教育部“长江学者”特聘教授。主要从事数控加工技术与装备、机器人化智能制造装备、超精密制造与检测方向的研究。他是国家杰出青年科学基金获得者、国家“万人计划”科技创新领军人才。
朱利民担任国际著名学术期刊IEEE/ASME Trans. On Mechatronics副编辑、英国机械工程师学会会刊Proceedings of the IMechE, Part B: Journal of Engineering Manufacture和中国机械工程学报英文版Chinese Journal of Mechanical Engineering编委，国家自然科学基金委员会机械设计与制造学科“十四五”发展战略报告“高性能、智能化制造”方向撰写组组长，上海市学位委员会第五届学科评议组成员。
朱利民主持国家自然科学基金重点项目3项、国家科技重大专项课题等科研项目30余项，由科学出版基金资助出版专著1部，发表SCI论文190余篇，包括ASME和IEEE会刊论文50余篇、机械制造领域影响因子最高的期刊Int J Mach Tool Manu论文19篇，授权发明专利20余项。以第一完成人获高等学校科学研究优秀成果奖自然科学奖一等奖1项，作为主要完成人获国家自然科学奖二等奖和国家科技进步奖二等奖各1项。
科研项目
主持国家和省部级科研项目30余项，包括国家自然科学基金项目8项（杰出青年基金项目1项、重点项目3项、面上项目3项、青年项目1项）；国家973项目子课题2项；国家重大科技专项课题1项；教育部、上海市科研计划项目14项。
1 力反馈虚拟操作理论及在产品开发中的应用，国家自然科学基金项目(50205018)，2003.1-2005.12，负责人
2 先进电子制造中的重要科学技术问题研究，国家自然科学基金重大项目(50390060)，2003.4-2007.3，子课题“基于实时机器视觉的精密定位”负责人兼项目学术秘书
3 基于扩散模拟的机械信号特征自适应增强方法及其应用，上海市青年科技启明星人才培养计划项目(04QMX1415)，2004.7-2006.12，负责人
4 计算制造的基础理论及应用，上海市基础研究重点项目(04JC14050)，2004.10- 2006.9，负责人之一
5 基于异质扩散模拟的机械信号动态演化特征自适应增强方法及其应用，国家自然科学基金项目(50475022)，2005.1-2007.12，负责人
6 自重构彩色编码结构光三维测量系统的研究与开发，教育部新世纪优秀人才支持计划项目(NCET-05-0406)，2006.1-2007.12，负责人
7 基于结构光测量的航空发动机叶片自动检测—工件装夹、视点规划与点云数据分析，横向开发项目，2007.6-2008.5，负责人
8 掘进系统的位姿测量与自动导向，国家973重点基础研究项目(2007CB714005)，2007.7-2011.8，课题交大方负责人
9 扫描造型的运动几何学基础及在五轴数控加工中的应用，上海市基础研究重点项目(07JC14028)，2007.12-2009.11，负责人
10 欧氏运动群上的曲线设计及其在数字化产品开发中的应用，国家自然科学基金项目(50775147)，2008.1-2010.12，负责人
11 循环波形特征提取方法及其在多工序复合加工过程监测中的应用，“机械系统与振动”国家重点实验室自主课题（面上），2008.1-2009.12，负责人
12 集成电路生产全自动光学测量设备研发与应用—子课题2：精密定位运动平台的研发，02重大专项(2009ZX02006-002)，2009.4-2012.3，负责人
13 五轴数控铣削加工动力学仿真与集成优化的关键技术研究，上海市青年科技启明星人才跟踪培养计划项目(09QH1401500)，2009.7-2011.6，负责人
14 智能材料微驱动器的磁滞补偿控制原理及应用，上海市科委政府间国际科技合作项目(09520701700)，2009.10-2011.9，负责人
15 自由曲面线接触和高阶点接触数控加工的几何学原理及其应用，上海市基础研究重点项目(10JC1408000)，2010.10-2012.09，负责人
16 微/纳光学阵列元件的约束刻蚀剂层加工技术与系统的基础研究，国家自然科学基金重点项目(91023047)，2011.1-2014.12，负责人
17 高温高强复杂曲面零件多轴加工物理过程仿真与高效低损伤加工，国家973重点基础研究项目(2011CB706804)，2011.1-2015.8，课题交大方负责人兼项目学术秘书
18 用于高速扫描探针显微镜的宽带纳米定位技术的研究，上海市曙光人才支持计划项目(10SG17)，2011.1-2012.12，负责人
19 复杂场景自适应三维测量关键技术与系统研究，“机械系统与振动”国家重点实验室自主课题（重点），2011.1-2013.12，负责人
20 用于高速扫描探针显微镜的超高带宽三维纳米定位平台的关键技术研究，上海市科委政府间国际科技合作项目（11520701500），2011.11-2013.10，负责人
21 五轴联动高效精密加工工艺及优化，“十二五”装备预先研究项目(625010303)，2012.1-2015.12，交大子课题负责人
22 超高带宽纳米定位平台的主动阻尼控制和动态磁滞补偿研究，“机械系统与振动”国家重点实验室自主课题（重点），2013.1-2014.12，负责人
23 自由曲面五轴数控线接触加工动力学基础研究，上海市基础研究重点项目(13JC1408400)，2013.9-2016.8，负责人
24 数字化制造与数控加工技术，国家杰出青年基金项目（51325502），2014.1-2017.12，负责人
25 压电驱动AFM纳米定位平台的超高带宽力反馈主动阻尼控制技术研究，高等学校博士学科点专项科研基金课题（20130073110037），2014.1-2016.12，负责人
26 电化学微纳加工系统研制，横向开发项目，2014.1-2014.6，负责人
27 五轴联动加工中心关键技术研究，上海市科委高新技术领域项目课题(14111104801)，2014.7-2016.6，负责人
28 先进制造科学与技术“十三五”发展战略研究，国家自然科学基金项目(51445001)，2014.6-2014.12，交大方负责人
29 大型复杂零件机器人智能加工技术与装备研究，上海市科委国际科技合作项目(15550722300)，2015.10-2017.9，负责人
30 蒙皮镜像加工机器人系统的主动顺应与协调控制研究，国家自然科学基金重点项目(91648202)，2017.1-2020.12，负责人
31 基于柔顺适应性装夹支撑的薄壁件加工新技术，国家“万人计划”科技创新领军人才计划项目，负责人
32 上海交通大学-上海拓璞数控科技有限公司“航空航天智能制造装备与系统联合研究中心”，2017-2021，负责人
33 大型复杂曲面叶片定位与型面检测，“智能机器人”国家重点研发专项课题（2017YFB1301503），2017.12-2020.11，负责人
34 镜像铣随动支撑头与加工壁厚闭环控制系统的研究，“机械系统与振动”国家重点实验室自主课题（重点），2018.1-2019.12，负责人
35 超快AFM纳米定位平台的时滞反馈主动阻尼与广义内模控制研究，国家自然科学基金项目（51975375），2020.1-2013.12，负责人
36 面向柔性定制作业的机器人三维视觉感知关键技术与核心部件研发, 上海市科委高新技术领域项目（19511106000），2019.9-2021.8，负责人
37 国家自然科学基金重大研究计划集成项目，大型复杂构件多机自律加工机器人的基础研究（编号91948301），子课题-大型构件全场景测量与自主寻位，2020.1-2024.12，负责人
38 机器人三维视觉感知核心部件研发，澳门重点研发专项课题，2020.1-2022.12，负责人
39 面向光学微结构超精密制造的加工-测量一体化机器人系统研究，国家自然科学基金联合基金重点项目(U2013211)，2021.1-2024.12，负责人
代表性论文专著
由中科院科学出版基金资助出版专著1部；在美国机械工程师学会（ASME）会刊（23篇）、国际电气电子工程师学会（IEEE）会刊（33篇）、International Journal of Machine Tools and Manufacture（19篇）、Computer-Aided Design（5篇）、《中国科学》和《科学通报》等国内外一流学术期刊发表SCI论文近200篇。
专著：
1 丁汉, 朱利民. 复杂曲面数字化制造的几何学理论和方法. 科学出版社, 43.8万字, 2011.
SCI论文：
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
中文期刊论文：
1 朱利民, 钟秉林, 黄仁, 离散频谱多点卷积幅值修正法的理论分析. 振动工程学报, 1999,12(1): 120-125.
2 朱利民, 钟秉林, 黄仁, 齿轮故障振动信号检波解调分析中的混频效应. 振动工程学报, 1999, 12(3): 331-337.
3 朱利民, 贾民平, 钟秉林等. 振动信号短时处理方法及其在机械故障诊断中的应用. 振动工程学报，2000, 13(3): 401-405.
4 朱利民, 钟秉林, 熊有伦. 变速机械弱时变响应信号处理的离散频谱多点平均法. 振动工程学报，2001, 14(1): 47-52.
5 朱利民, 熊有伦. 一个通用的频谱误差校正快速算法. 振动工程学报, 2001, 14(2): 166-171.
6 朱利民, 熊有伦. 解调分析中差频现象的理论分析及细化频谱/解调分析集成算法. 振动工程学报，2001, 14(4): 409-413.
7 丁汉, 朱利民, 熊振华. 复杂曲面快速测量、建模及基于测量点云的RP和NC加工. 机械工程学报, 2003, 39(11): 28-37.
8 丁汉, 朱利民, 林忠钦. 面向芯片封装的高加速度运动系统的精确定位和操作. 自然科学进展, 2003, 13(6): 568-574.
9 朱利民,牛新文,钟秉林,丁汉. 振动信号短时功率谱时-频二维特征提取方法及应用. 振动工程学报，2004, 17(4): 522-527.
10 朱利民, 贺恩华. 梳状滤波阵图及其应用. 机械工程学报, 2006, 42(5): 1-5.
11 罗红根, 朱利民, 丁汉. 基于主动轮廓模型和水平集方法的图像分割技术. 中国图象图形学报, 2006, 11 (03): 301-309.
12 罗晨, 朱利民, 丁汉. 基于距离函数的运动生成曲面的识别和重构的方法. 机械工程学报, 2009, 45(10): 151-158.
13 朱利民, 郑刚, 张小明, 丁汉. 刀具空间运动扫掠体包络面建模的双参数球族包络方法. 机械工程学报，2010, 46(5): 145-149.
14 朱利民, 郑刚, 丁汉. 圆锥刀五轴侧铣加工刀具路径整体优化原理与方法. 机械工程学报, 2010, 46(23): 174-179.
15 张小明, 朱利民, 丁汉, 赵灿. 五轴加工刀具姿态球面NURBS 曲线设计及优化. 机械工程学报, 2010, 46(17): 140-144.
16 罗晨, 朱利民, 丁汉. 夹具定位分析的双边二次方法. 机械工程学报, 2011, 47(3): 103-108.
17 张旭, 朱利民. Gamma畸变的相位误差模型与Gamma标定技术. 光学学报, 2012, 32(4): 0412006.
18 罗晨, 朱利民, 丁汉. 夹具定位分析模型的统计特征及相对误差分析. 机械工程学报, 2013, 49(5): 100-115.
19 林忠钦, 来新民, 金隼, 王皓, 朱利民, 陈关龙. 复杂产品制造精度控制的数字化方法及其发展趋势. 机械工程学报, 2013, 49(6): 103-113.
20 朱利民，卢耀安. 回转刀具侧铣加工扫掠包络面几何造型及其应用. 机械工程学报, 2013, 49(7): 176-183.
21 赵欢, 朱利民, 丁汉. 基于高精度轮廓误差估计的交叉耦合控制研究. 机械工程学报, 2014, 50(3): 158-164.
22 聂强, 黄凯, 毕庆贞, 朱利民. 微铣削中考虑刀具跳动的瞬时切厚解析计算方法. 机械工程学报,2016,52(3): 169-178.教学工作
软件版权登记及专利
专利：
1 精密夹具定位元布局规划方法. 发明专利，授权号: ZL200510025076.0
2 激光植球机焊盘视觉识别与定位系统. 发明专利，授权号: ZL200510025779.3
3 五轴数控加工光滑无干涉刀具路径的规划方法. 发明专利，授权号: ZL200710045183.9
4 五轴数控加工安全最短刀具长度的规划方法. 发明专利，授权号: ZL200810039198.9
5 五轴数控侧铣加工进给率离线规划方法. 发明专利, 授权号: ZL200910046724.9
6 刀具模态参数不确定的曲面五轴数控工艺参数优化方法. 发明专利，授权号: ZL200910046725.3
7 基于IEEE-1394串行总线的多轴运动控制卡. 发明专利，授权号：ZL200910050444.5
8 实时磁滞逆模型对系统进行补偿实现的方法. 发明专利，授权号：ZL201010186108.6
9 二自由度平动并联解耦微动平台. 发明专利，授权号：ZL201010216326.X
10 类直纹面整体叶轮曲面的侧铣加工方法. 发明专利，授权号：ZL201210237109.8
11 基于微分求积法的多车刀并行车削稳定性判定方法. 发明专利，专利号：ZL201410060539.6
12 五轴数控侧铣加工铣削力预报方法. 发明专利，专利号：ZL201410145849.8
13 五轴多行侧铣加工刀位规划方法. 发明专利，专利号：ZL201410186035.9
14 小线段路径压缩平滑的前瞻插补系统. 发明专利，专利号：ZL201410186814.9
15 压电陶瓷驱动器的高速纳米精度运动控制方法及系统. 发明专利，专利号：ZL201410354111.2
16 基于G2连续Bézier曲线的刀具轨迹压缩方法. 发明专利，专利号：ZL201310539076.7
17 一种叶轮的椭圆形叶缘造型系统及方法. 发明专利，专利号：ZL201210560351.9
18 二自由度平动并联高带宽微动平台. 发明专利，专利号：ZL201210477575.3
19 微纳仪器装备中模板快速逼近和原位检测装置及方法. 发明专利，专利号：ZL201210141008.0
20 运动解耦的绳驱动连续体机械臂及机器人. 实用新型专利，专利号：ZL201620780610.2
21 一种新型立式微型数控机床的龙门结构. 实用新型专利，专利号：ZL201320630555.5
软件：
1 五轴数控加工可达性分析和刀具路径规划软件[简称: SurfMilling] V2.0，登记号：2011SR090085
2 叶轮数控加工刀路规划专用软件[简称: TopPower] V2.0，登记号：2013SR012667
