Publications

Refereed Book and Book Chapters

  1. Bai, Y., H. Zhuang, and D. Wang, Advanced Fuzzy Logic Technologies in Industrial Applications, Springer, 2006.
  2. Zhuang, H. and Z. S. Roth, Camera-Aided Robot Calibration, CRC Press, 1996.
  3. Zhuang, H. and Z. S. Roth, “A unified approach to kinematic modeling, identification and compensation for robotics calibration,” book chapter in Advances in Control and Dynamic Systems, Vol. XXXVIII, edited by C. T. Leondes, Academic Press, 1991, pp.71-128.

Refereed Journal Articles

  1. Kotlarchyk, A., T. Khoshgoftaar, M. Pavlovic, H. Zhuang and A. S. Pandya “Identification of MicroRNA Biomarkers for Cancer by Combining Multiple Feature Selection Techniques,” Accepted for publication in J. Computational Methods in Science & Engineering.
  2. Bai, Y., H. Zhuang, and D. Wang, “Apply Fuzzy Interpolation Method to Calibrate Parallel Machine Tools,” accepted for publication in Int. J. Advanced Manufacturing Technology.
  3. Morales, G., H. Zhuang, and M. Pavlovic, “A Biologically Inspired Myelinated Neuron Axon Model using a System Identification Approach,” Med Data Review, to appear.
  4. Pavlovic, M., M. Cavallo, A. Kats, A. Kotlarchyk, H. Zhuang, Y. Shoenfeld, “From Pauling’s Abzyme Concept to the New Era of Hydrolytic Anti-DNA Autoantibodies: A link to Rational Vaccine Design? A Review,” Int. J . Bioinformatics Research and Applications, to appear.
  5. Guan X. and H. Zhuang, “A Method of Creating 3-D Face Images from 2-D Photos for Face Recognition,” Int. J. Biometrics, Vol. 3, No. 1, pp. 40-55, 2011.
  6. Wang, X., D. Wang,H. Zhuang, and S. Morgera, “Fair energy-efficient resource allocation in wireless sensor networks over fading TDMA channels,” IEEE Journal on Selected Areas in Communications, Vol. 28, No. 7, pp. 1063-1072, Sept. 2010.
  7. Bai, Y. and H. Zhuang, “Automated biometric technology and its applications,” Special Issue Editorial, J. Intelligent Systems Technologies and Applications, Vol. 7, No. 3, pp. 241-242, 2009.
  8. Huang, L., H. Zhuang and S. Morgera, “A Method towards Biometric Feature Fusion,” Int. J. Biometrics, Vol. 1, No. 4, pp. 479-494, 2009.
  9. Wang, X., I. Li, D. Wang, H. Zhuang and S. Morgera,  “Incorporating retransmission in quality-of-service guaranteed multi-user scheduling over wireless links,” IEEE T. Vehicular Technology, vol. 58, no. 8, pp. 4388-4397, Oct. 2009.
  10. Huang, L., H. Zhuang and Sal Morgera, “A method for face recognition,” Int. J. Intelligent Systems Technologies and Applications, Vol. 7, No. 3, pp. 282-295, 2009.
  11. Kotlarchyk, A.J., A. Pandya, and H. Zhuang, “Simulation and experimental studies on fuzzy vault fingerprint cryptography,” J. Knowledge-Based Intelligent Engineering Systems, 12(5-6), 305-317, 2009.
  12. Meng, Y. and Zhuang, “Autonomous robot calibration using vision technology,” J. Robotics and Computer Integrated Manufacturing; Vo. 23, No. 4, August 2007, pp. 436-446.
  13. Zhuang, H., and S. Morgera, “Development of an undergraduate course -Internet-based instrumentation and control”, Int. J. Computer Education, Vol 49, pp. 330-344, 2007.
  14. Zhuang, H. and S. Wongsoontorn, “Design and tuning of fuzzy control surfaces with Bezier functions,” J. Intelligent Automation and Soft Computing, 2006.
  15. Bai, Y. and H. Zhuang, “On the Comparison of fuzzy interpolation techniques for robotic position measurements,” IEEE Trans on Instrumentation and Measurement, Vol. 54, No.6, December 2005, pp. 2281 – 2288.
  16. Bai, Y., H. Zhuang and Z.S. Roth, “Application of a fuzzy logic controller in suppression of noises and coupling effects for a laser tracking systems,” IEEE Transactions on Control SystemsTechnology, Vol. 13, No.1, Jan. 2005, pp. 113-121.
  17. Meng Y., and H. Zhuang, “A method for computing lens distortion,” IEEE Robotics & Automation Magazine, Vol. 11, No. 4, Dec. 2004, pp. 123 – 128.
  18. Zhuang, H., S.H. Motaghedi, Z.S. Roth, and Y. Bai, “Calibration of multi-beam laser tracking systems,” J. Robotics and CIM, Vol. 19, 2003, pp. 301-314.
  19. Zhuang, H. and Y. Wang, “A m-law based fuzzy tuning,” J. Intelligent Automation and Soft Computing, Vol. 8, No. 1, 2002, pp. 1-14.
  20. Meng, Y. and Zhuang, “Robot self-calibration with minimum ground truth data,” International Journal of Robotics Research, 2001, pp. 909-921.
  21. Zhuang, H. and X. Wu, “Member function modification using histogram equalization,” IEEE Trans. System Man & Cybernetics, 2001, pp. 125-132.
  22. Zhuang, H., L. Liu and O. Masory, “Self-calibration of hexapod machine tools,” ASME J. Manufact. Science & Technology, Vol. 122, No. 1, 2000, pp. 140-148.
  23. Xie, X., R. Sudhakar and H. Zhuang, “A cascaded scheme for eye tracking and head movement compensation,” IEEE Trans. Systems, Man, Cybernetics, Vol. 28, No. 4, 1998, pp. 487-490.
  24. Zhuang, H., J. Yang, and O. Masory, “Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals,”  J. Robotics Systems, Vol. 15, No. 7, 1998, pp. 395-405.
  25. Zhuang, H., “Hand/eye calibration for electronic assembly robots,” IEEE Trans. R&A, Vol. 14, No. 4, 1998, pp. 612-616.
  26. Zhuang, H. and A. Melchinger, “Calibration of a hand/eye matrix and a connection matrix using relative pose measurements”, IEEE Trans. Systems, Man, Cybernetics, Vo. 28, No. 3, 1998, pp. 369-375.
  27. Zhuang, H., “A note on using only position equations for hand/eye calibration,” IEEE Trans. Systems, Man, & Cybernetics, Vol. 28, No. 3, 1998, pp. 426-427.
  28. Zhuang, H., J. Wu and W. Huang, “Optimal planning of robot calibration experiment using Genetic algorithm,” J. Robotics Systems, Vol. 14, No. 10, 1997, pp. 741-752.
  29. Masory, O., J. Wang, and H. Zhuang, “On the accuracy of a Stewart platform,” Advanced Robotics, Vol. 11, No. 5, 1997, pp. 519-539.
  30. Zhuang, H., “A note on hand-eye calibration,” Int. J. Robotics Research, Vol. 16, No. 5, Oct. 1997, pp. 725-727.
  31. Zhuang, H., “Self-calibration of parallel mechanism with a case study on Stewart platforms,” IEEE Trans. Robotics & Automation, Vol. 13, No. 3, June 1997, pp. 387-397.
  32. Zhuang, H. and R. Sudhakar, “Simultaneous rotation and translation fitting of two sets of 3D points,” IEEE Trans. Systems, Man, Cybernetics, Vol. 27, No. 1, Feb. 1997, pp. 118-126.
  33. Zhuang, H., and W.C. Wu, “Camera calibration with nearly-parallel (ill-conditioned) camera configurations,” IEEE Trans. Robotics & Automation, Vol. 12, No. 6, 1996, pp. 918-921.
  34. Zhuang, H., W. C. Wu, and Z. S. Roth, “Camera-assisted robot calibration for SCARA arms,” IEEE Robotics & Automation Magzine, Vol. 3, No. 4, 1996, pp. 46-53.
  35. Zhuang, H., Z., S. Roth, “A note on singularity studies using a modified CPC model,” J. Robotics & CIM, Vol. 12, No. 2, 1996, pp. 169-171.
  36. Zhuang, H. and Z. S. Roth, “A tutorial on robot calibration with hand-mounted cameras,” J. Intelligent Automation and Soft Computing, Vol. 1, No. 3, 1995, pp. 325-344
  37. Zhuang, H. “A self-calibration approach to extrinsic parameter estimation of stereo cameras,” J. Robotics and Autonomous Systems, Vol. 15, 1995, pp. 189-197.
  38. Zhuang, H., Z., S. Roth, “A note on A linear solution to the kinematic parameter identification of robot manipulators,” IEEE Trans. Robotics & Automation, Vol. 11, No. 11, 1995, pp. 922.
  39. Xie, X., R. Sudhakar and H. Zhuang, “Real-time eye tracking from a video image sequence using Kalman filter,” IEEE Trans. Systems, Man and Cybernetics, Vol. 25, No. 12, Dec. 1995, pp. 1568-1577.
  40. Zhuang, H., L. Wang, and Z.S. Roth, “Simultaneous calibration of a robot and a hand-mounted monocular camera,”  IEEE Trans. Robot. & Automation, Vol. 11, No. 5, 1995, pp. 649-660.
  41. Zhuang H. and Z. S. Roth, “Modeling gimbal axis misalignments and mirror center offset in a single-beam laser tracking measurement system,” Int. J. Robotics Research, Vol. 14, No. 3, June 1995, pp. 211-224.
  42. Zhuang, H., “A Note on single-scanline camera calibration,” IEEE Trans. Robot. & Automation, Vol. 11, No. 3, June 1995, pp. 470-471.
  43. Zhuang, H., “A note on the use of identification Jacobian for robot calibration,” Int. J. Robotics Research, Vol. 14, No. 1, Feb. 1995, pp. 87-89.
  44. Zhuang, H, R. Sudhakar, and J. Shieh, “Depth estimation from a sequence of images with known camera motion,” Int. J. Robotics and Autonomous Systems, Vol. 13, 1994, pp. 87-95.
  45. Zhuang, H. and Z. Qu, “A new Jacobian formulation for robotic hand/eye calibration,” IEEE Trans. Systems, Man & Cybernetics, Vol. 24, No. 8, 1994, pp. 1284-1287.
  46. Zhuang, H., Z.S. Roth, and R. Sudhakar, “Simultaneous robot/world and eye/hand calibration by solving homogeneous transformation equations of the form AX = YB,” IEEE Trans. Robotics & Automation, Vol 10., No. 4, Aug. 1994, pp. 549-554
  47. Shieh, J., H. Zhuang, and R. Sudhakar, “Motion estimation from a sequence of stereo images: a direct method,” IEEE Trans. Systems, Man and Cybernetics, Vol 24, No. 7, July, 1994, pp.1044-1053.
  48. Xie, X., R. Sudhakar and H. Zhuang, “On improving eye feature extraction using deformable templates,” Pattern Recognition, Vol. 27, No. 6, 1994.
  49. Zhuang, H., Z. S. Roth, X. Xu, and K. Wang, “Camera calibration issues in robot calibration with eye-on-hand configurations,” Robotics & Computer Integrated Systems, Vol 10, No. 6, 1993, pp. 401-412.
  50. Zhuang H., Z. S. Roth and F. Hamano, “Optimal design of robotic accuracy compensators”, IEEE Trans. Robotics & Automation, Vol. 9, No. 6 December 1993, pp. 854-857.
  51. Zhuang, H., Z. S. Roth, and K. Wang, “Robot calibration by mobile camera system,” J. Robotic Systems, Vol. 11, No. 3, 1994, pp. 155-168.
  52. Zhuang, H. and Y. Shiu, “A noise-insensitive algorithm for robotic hand/eye calibration with or without sensor orientation measurement,” IEEE Trans. Systems, Man and Cybernetics, Vol. 23, No. 4, 1993, pp. 1168-1174.
  53. Zhuang, H. and Z. S. Roth, “A linear solution to kinematic parameter identification for robot manipulators,” IEEE Trans. Robotics & Automation, Vol. 9, No. 2, 1993, pp. 174-185.
  54. Zhuang, H., K. Wang, and Z.S. Roth, “Error-model-based robot calibration using a modified CPC model,” Int. J. Robotics and Computer-Integrated Manufacturing, Vol. 10, No. 4, 1993, pp. 287-299.
  55. Xie, X., R. Sudhakar and H. Zhuang, “Corner detection by a cost minimization approach,” Pattern Recognition, 26:8, 1993.
  56. Qu, Z. and H. Zhuang, “Nonlinear learning control of robot manipulators without requiring acceleration measurement,” Int. J. Adaptive Control & Signal Processing, Vol. 7, 1993, pp. 77-90.
  57. Zhuang, H. and Z. S. Roth, “A method for kinematic calibration of Stewart platforms,” J. Robotics Systems, Vol. 10, No. 3, April 1993, pp. 391-405.
  58. Zhuang, H., Z. S. Roth, and R. Sudhakar, “Fusion algorithms for rotation matrices,” J. Robotic Systems, Vol. 9, No. 7, Oct. 1992, pp. 915-932.
  59. Zhuang, H., Z. S. Roth and F. Hamano, “A complete and parametrically continuous kinematic model,” IEEE Trans. Robotics & Automation, Vol. 8, No. 4, Aug. 1992, pp. 451-463.
  60. Zhuang, H. and Z. S. Roth, “Comments on ‘Calibration of wrist-mounted robotic sensors by solving homogeneous transformation equations of the form AX =XB’,” IEEE Trans. Robotics & Automation, Vol. 7, No. 6, Dec. 1991, pp.877-878.
  61. Zhuang H. and Z. S. Roth, “Robot calibration using the CPC error model”, Int. J. Robotics and Computer-Integrated Manufacturing, Vol. 9, No. 3, Sept. 1992, pp. 227-237.
  62. Zhuang, H., B. Li, Z. S. Roth and Xangdong Xie, “Self-calibration and mirror center offset elimination of a multi-beam laser tracking system,” Int. J. Robotics and Autonomous Systems, 9(1992) pp. 255-269
  63. Zhuang, H., Z. S. Roth and F. Hamano, “Observability issues in kinematic error parameter identification of manipulators,” ASME Trans. Dynamic Systems, Meas. & Control, Vol. 114, June 1992, pp. 319-322.

Refereed Conference Proceedings

  1. Esfahanian, M., H. Zhuang, and N. Erdol, “Classification of dolphin whistle types using an eigen-whistle algorithm,” 5th Int. DCL Workshop, Mt Hood, OR, 2011.
  2. Morales, G., H. Zhuang, and M. Pavlovic, “An N-Node Myelinated Axon Model: A System Identification Approach,” the 5th Int. IEEE EMBS Conf. on Neural Engineering, 2011,Cancun,Mexico.
  3. Bai, Y., H. Zhuang and D. Wang, “Applying fuggy interpolation method to calibrate parallel machine tools,” 2009 IEEE International Symposium on Industrial Electronics, July 5-8, 2009, pp. 1183-1188.
  4. Bai, Y., H. Zhuang and D. Wang, “Calibration of parallel machine tools using fuzzy interpolation method”, 2008 IEEE International Conference on Technologies for Practical Robot Applications, November 10 – 11, 2008, pp. 56-61.
  5. Wang, X., D. Wang, H. Zhuang, and S. Morgera, “Fair energy-efficient resource allocation over fading TDMA channels,” Proc. of Globecom Conf., Honolulu, HI, Nov. 30-Dec. 4, 2009.
  6. Li, I., X. Wang, H. Zhuang, and S. Morgera, “Integrating retransmission diversity with real-time scheduling over wireless kinks,” Proc. of 43rd Conf. on Info. Sciences and Systems, Johns Hopkins University, MD, March 18-20, 2009.
  7. Wang, X., D. Wang, I.Li, H. Zhuang, and S. Morgera, “Incorporating retransmission diversity in quality-of-service guaranteed multi-user scheduling,” Proc. of 42nd Conf. on Info. Sciences and Systems, Princeton University, NJ, March 19-21, 2008.
  8. Huang, L., H. Zhuang, and S. Morgera, “Audio-visual based person recognition with fusion at feature level,” CD Proc. Int. Conf. Artificial Intelligence & Pattern Recognition, Orlando, Florida, Summer, 2007.
  9. Guan, X. and H. Zhuang, “Application of illumination compensation for face recognition,” CD Proc. Int. Conf. Artificial Intelligence & Pattern Recognition, Orlando, Florida, Summer, 2007.
  10. Zhuang, H, T. Theerawong, X. Guan, S. Morgera, and A. Pandya, “A Method for Creating 3D Face from a 2D Face Image,” Int. Conf. Biometrics, Montreal, Canada, Summer, 2006.
  11. Zhuang, H. and S. Wongsoontorn, “Design and tuning of fuzzy control surfaces with Bezier functions”, CD Proc. IEEE SMC 2005, Hawaiian, 2005.
  12. Zhuang, H. and S. Wongsoontorn, “A fuzzy-logic based trust model and its optimization for e-commerce”, CD Proc. IEEE SMC 2005, Hawaiian, 2005.
  13.  Meng, Y. and H. Zhuang, “Reliable solution for object pose determination using an active vision system,” CD Proc. ICAR,Seattle, 2005.
  14. Bai, Y. and H. Zhuang, “On the comparison of model-based and modeless robotic calibration based on the fuzzy interpolation technique,” CD Proc. IEEE Conference on Robotics and Manufacturing, December 2004.
  15. Huang, L., H. Zhuang, and S. Morgera, “Multi-resolution pyramidal Gabor-EigenFace algorithm for face recognition,” CD Proc. Third International Conference on Image and Graphics, December 2004.
  16. Bai, Y. and H. Zhuang, “Modeless robots calibration in 3D workspace with an on-line fuzzy interpolation technique,” CD proceedings of SMC, 2004.
  17.  Zhuang, H. and S. Morgera, “Development of a course for Internet-based instrumentation and control,” CD proceedings of LACCEI, 2004.
  18. Zhuang, H. and S. Morgera, “An undergraduate course – Internet-based instrumentation and control,” CD proceedings of Frontier in Education, October 2004.
  19. Zhuang, H. and S. Morgera, “Development of a web-based instrumentation and control lab,” CD proceedings of ASEE 2003.
  20. Zhuang, H. and R. Sudhakar, “An undergraduate course for machine vision,” CD proceedings of ASEE 2003.
  21. Bai, Y., H. Zhuang and Z.S. Roth, “Experiment study of PUMA robot calibration using a laser tracking system”, Proceedings Of 2003 IEEE International Workshop on Soft Computing in Industrial Applications, June 23-25, 2003, pp. 139-144.
  22. Zhuang, H. and Y. Meng, “Using a scale: self-calibration of a robot system with factor method,” proceedings of IEEE Int. Conf. R&A,Seoul,South Korea, 2001, pp. 2797-2803.
  23. Zhuang, H. and X. Wu, “Membership function modification of Fuzzy Logic Controllers with histogram equalization,” proceedings of IEEE WAC,Maui,Hawaii, 2000.
  24. Zhuang, H., Motaghedi, H., S., and Z. S. Roth, “Robot calibration with planar constraints,” proceedings of IEEE Int. Conf. R&A, Detroit, MI,1999, pp. 805-810.
  25. Zhuang, H., and L. Liu, “Determination of independent parameters in self-calibration of parallel mechanisms,” proc. Manufacturing Engineering Division, ASME World Congress and Exhibits, 1998.
  26. Zhuang, H., L. Liu and O. Masory, “Autonomous calibration of hexapod machine tools,” proc. Manufacturing Engineering Division, ASME World Congress and Exhibits, Nov. 1997, pp. 443-449.
  27. Zhuang, H., “Hand/eye calibration for electronic assembly robots”,  proceedings of IEEE Int. Conf. R&A, Albeuquerque, NM, 1997.
  28. Zhuang, H. and A. Melchinger, “Calibration of a hand/eye matrix and a connection matrix using relative pose measurements”, proceedings of IEEE Int. Conf. R&A, Albeuquerque, NM, 1997.
  29. Zhuang, H. and Y. Wang, “A coordinate measuring system with parallel mechanisms”, proceedings of IEEE Int. Conf. R&A, Albeuquerque, NM, 1997.
  30. Zhuang, H. R. Sudhakar and Z.S. Roth, “A new method for pose fitting from two 3D point sets and its application to robot localization,” proceedings of IEEE Int. Conf. R&A,Minneapolis, April 1996, pp. 655-660.
  31. Zhuang, H. and L. Liu, “Self-calibration of a class of parallel manipulators,” proceedings of IEEE Int. Conf. R&A,Minneapolis, April 1996, pp.994-999.
  32. Zhuang, H. J., Wu and W. Huang, “Optimal planning of robot calibration experiment using Genetic algorithm,” proceedings of IEEE Int. Conf. R&A,Minneapolis, April 1996, pp. 981-986.
  33. Wu, J. and H. Zhuang, “A Petri-Net-Based Collision and Deadlock Avoidance Scheme for FMS,” proc. INRIA/IEEE Smp. Emerging Technologies and Factory Automations, Vol. 2, 1995, pp. 511-520.
  34. Zhuang, H., W. Wu, and Z. S. Roth, “Camera-assisted SCARA arm calibration,” proc. IEEE/RSJ IROS, 1995, Vol. I pp. 507-512.
  35. Zhuang, H. J. Yan, and O. Masory, “Stewart platform calibration with poses measured by a single theodolite,” proc. IEEE/RSJ IROS, 1995,  Vol. II, pp. 329-335.
  36. Zhuang, H. and Z. S. Roth, “A tutorial on robot calibration using hand-mounted cameras,” presented at ISRAM, Hawaii, Sept. 1994; also in Robotics and Manufacturing, Vol. 5, ed. M. Jamshidi, C. Nguyen, R. Lumia, and J. Yuh, pp. 743-749.
  37. Zhuang, H. and Z. S. Roth, “Differential relationships in the modeling and control of a single-beam tracking measurement system,” presented at ISRAM,Hawaii, Sept. 1994.
  38. Zhuang, H. “A self-calibration approach to extrinsic parameter estimation of stereo cameras,” proc. IEEE Int. Conf. R&A,San Diego, May 1994, pp. 3428-3433.
  39. Zhuang and Z. S. Roth, “Modeling gimbal axis misalignments and  mirror center offset in a single-beam laser tracking measurement system,” proc. IEEE Int. Conf. R&A,San Diego, May 1994, pp. 3416-3421.
  40. Zhuang, H., L. Wang, and Z. S. Roth, “Optimal selection of measurement configurations for robot calibration using simulated annealing,” proc. IEEE Int. Conf. R&A,San Diego, May 1994, pp. 393-398.
  41. Zhuang, H., L. Wang, and Z. S. Roth, “Simultaneous calibration of a robot and a hand-mounted camera,” Proc. IEEE Int. Conf. R&A,Atlanta,GA, May 1993, Vol. 2, pp. 149-154.
  42. Masory, O., J. Wang, and H. Zhuang, “On the accuracy of a Stewart platform – part II: kinematic calibration and compensation,” Proc. IEEE Int. Conf. R&A,Atlanta,GA, May 1993, Vol. 1, pp. 175-180.
  43. Zhuang, H., K. Wang, and Z. S. Roth, “Robot calibration using a modified Denavit-Hartenberg model, ASME Press Series,  “Robotics and manufacturing — recent trends in research, education and  Aplications,” Vol. 4, Proc. 4th Int. Symp. on Robotics & Manufacturing (ISRAM ‘92), Nov. 1992,Santa Fe,NM, pp. 33-36.
  44. Zhuang, H., Z. S. Roth, X. Xu, and K. Wang, “A simplified RAC-based camera calibration algorithm and related implementation issues,” ASME Press Series,  “Robotics and manufacturing — recent trends in research, education and applications,” Vol. 4, Proc. 4th Int. Symp. on Robotics & Manufacturing, (ISRAM’92), Nov. 1992,Santa Fe,NM, pp. 97-102.
  45. Zhuang, H., Z. S. Roth, and R. Sudhakar, “Simultaneous calibration of robot/world and eye/hand transformations,” Proc. Intell. Robot. Syst.,Raleigh,NC, July 1992, pp. 1063-1070.
  46. Zhuang, H. and Y. Shiu, “A noise-insensitive algorithm for robot wrist-mounted sensor calibration with or without sensor orientation measurement,” Proc. Intell. Robot. Syst.,Raleigh,NC, July 1992, pp. 1095-1100.
  47. Zhuang, H. and Y. Shiu, “An iterative algorithm for robot wrist-mounted sensor calibration with or without external orientation measurement,” Proc. American Control Conference,Chicago,IL, June 1992, pp. 2479-2483.
  48. Zhuang, H., Z. S. Roth, and K. Wang, “Robot calibration by mobile camera system,” Proc. ASME Winter Annual Meeting for an invited session on Image Processing Application in Process Automation, 1991 DSC-Vol. 30, pp. 65-62.
  49. Zhuang, H. and Z. S. Roth, “Kinematic calibration of Stewart platforms,”  Proc. ASME Winter Annual Meeting for an invited session on Robot Calibration, 1991, DSC-Vol. 29, pp. 43-48.
  50. Zhuang, H. and Z. S. Roth, “A closed-form solution to kinematic parameter identification for robot manipulators,” Proc. IEEE Int. Conf. on Robotics & Automation,Sacramento,CA, April 1991, pp. 2682-2689.
  51. Zhuang, H. and Z. S. Roth, “Fusion algorithms for rotation matrices,” Proc. American Control Conf.,Boston,MA, June 1991, pp. 2064-2065.
  52. Zhuang, H., B. Li, Z. S. Roth and F. Hamano, “Self-calibration of a laser tracking coordinate measuring machine,” in Robotics and Manufacturing, Recent Trends in Research, Education, and Applications, Vol 3, 1990, edited by M. Jamshidi and M. Saif pp. 197-203.  Also presented at 3rd Int. Symp. Robotics & Manufacturing,Burnaby,Canada, July 1990.
  53. Zhuang, H., Z. S. Roth and F. Hamano, “A complete and parametrically continuous kinematic model,” Proc. IEEE Int. Conf. on Robotics & Automation, Cincinnati, OH, May 1990, pp. 92-98.
  54. Zhuang, H., Z. S. Roth and F. Hamano, “Observability issues in kinematic error parameter identification of manipulators,” Proc. American Control Conf.,San Diego,CA, May 1990, pp. 2287-2293.
  55. Zhuang H., F. Hamano and Z. S. Roth, “Optimal design of robotic accuracy compensators”, Proc. IEEE Int. Conf. on Robotics & Automation, Arizona, May 1989, pp.751-756.
  56. Zhuang H., F. Hamano and Z. S. Roth, “The optimal solution to neighboring inverse kinematics”, Proc. 27th IEEE Conf. Control & Decision,Texas, Dec. 1988, pp.2284-2285.