MAAL

InvariantCloud: A globally invariant, uniquely indexed point cloud framework for robust 6-DoF tactile pose tracking

Thu, 31 Dec 2026 00:00:00 +0000

Ye, P., Ma, Y., Zhou, Y., Chen, W., Dong, W., Duan, M.*, 2026, “InvariantCloud: A globally invariant, uniquely indexed point cloud framework for robust 6-DoF tactile pose tracking,” IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria.

Sensorless contact forces estimation for robotic manipulators using dual-stage temporal-residual neural network compensation

Thu, 31 Dec 2026 00:00:00 +0000

Zhou, Y., Cheung, Y.H., Liu, S., Law, F.C., Shi, Y., Han, L., Duan, M.*, 2026, “Sensorless contact forces estimation for robotic manipulators using dual-stage temporal-residual neural network compensation,” Control Engineering Practice, 176, 107140.

Computation-Efficient Path Planning Using Evolving Artificial Repulsive Force over Expanding Obstacles for Robotic Manipulator

Wed, 30 Dec 2026 00:00:00 +0000

Zhou, Y., Huang, B., Cheung, Y.H., Ye, P., Duan, M.*, 2026, “Computation-Efficient Path Planning Using Evolving Artificial Repulsive Force over Expanding Obstacles for Robotic Manipulator,” ISA Transactions.

Design and multi-axis additive manufacturing of lightweight and skin-compatible mesh splints using continuous basalt fiber for rehabilitation

Wed, 30 Dec 2026 00:00:00 +0000

Li, F., Gao, F., Yang, Y., Zhou, Y., Duan, M.*, 2026, “Design and multi-axis additive manufacturing of lightweight and skin-compatible mesh splints using continuous basalt fiber for rehabilitation,” ASME Manufacturing Science and Engineering Conference (MSEC), State College, US.

Gaussian-process-based sensor placement and uncertainty quantification for dynamic response reconstruction in flexible aeroelastic structures

Tue, 29 Dec 2026 00:00:00 +0000

Dong, B., Mei, Y., Lu, X., Zhou, Y., Zhang, S., Wang, W., Duan, M.*, 2026, “Gaussian-process-based sensor placement and uncertainty quantification for dynamic response reconstruction in flexible aeroelastic structures,” Mechanical Systems and Signal Processing, 257, 114426.

Mobile Robot Inspection of Building Plenum Spaces via Vision-Based Multi-Sensor Fault Detection

Mon, 28 Dec 2026 00:00:00 +0000

Lou, G., Liu, S., Shen, Y., Wong, W.Y., Lu, Y., Duan, M.*, 2026, “Mobile Robot Inspection of Building Plenum Spaces via Vision-Based Multi-Sensor Fult Detection,” Automation in Construction, 187.

Property-controllable process planning for multi-axis hybrid manufacturing of complex metal parts

Sun, 27 Dec 2026 00:00:00 +0000

He, D., Hao, J., Lau, T.Y., Huang, L., Chen, Y., Hu, P., Xie, J., Duan, M., Liu, X., Tang, K.*, 2026, “Property-controllable process planning for multi-axis hybrid manufacturing of complex metal parts,” Computers in Industry, 179.

Shortened current injection for sensorless switched reluctance motor drives based on high-sensitivity-region-optimized position observer

Sat, 26 Dec 2026 00:00:00 +0000

Chen, Z., Lin, X., Luo, D., Duan, M., Cai, S., Xiao, D.*, 2026, “Shortened current injection for sensorless switched reluctance motor drives based on high-sensitivity-region-optimized position observer,” IEEE Transactions on Transportation Electrification, 11454632.

DS-LABRNav: Land-air bimodal robot navigation with traversable obstacles based on vision-language model

Fri, 25 Dec 2026 00:00:00 +0000

Li, Y., Yu, W., Duan, M., Zhang, B., Liu, Z., Li, Q.*, 2026, “DS-LABRNav: Land-air bimodal robot navigation with traversable obstacles based on vision-language model,” IEEE Robotics and Automation Letters, 11(7), 8471-8478.

Dynamic mode decomposition-based modeling and toolpath optimization of a robotic single point incremental forming process

Thu, 24 Dec 2026 00:00:00 +0000

Asghar, A., He, S., Hu, P., Duan, M.*, 2026, “Dynamic mode decomposition-based modeling and toolpath optimization of a robotic single point incremental forming process,” Journal of Manufacturing Processes, 167, pp. 507-531.

An efficient cutter-facet model projection method and applications to five-axis tool path computation

Wed, 23 Dec 2026 00:00:00 +0000

Li, X., Hu, P.*, Huang, L., Chen, H., Duan, M., Zhang, X., 2026, “An efficient cutter-facet model projection method and applications to five-axis tool path computation,” International Journal of Advanced Manufacturing Technology.

Bead geometry prediction of directed energy deposition based on spatio-temporal neural network model

Tue, 22 Dec 2026 00:00:00 +0000

Chen, Y., Zhang, W., Wang, Y., Hu, P.*, Duan, M., Fu, Z., Deng, X., 2026, “Bead geometry prediction of directed energy deposition based on spatio-temporal neural network model,” International Journal of Advanced Manufacturing Technology.

Toward a High-Throughput Automated Materials Experimentation Platform: Hybrid-Automata-Inspired Modeling and Equipment Configuration Optimization

Mon, 21 Dec 2026 00:00:00 +0000

Ma, G., Cui, H., Yip, C. Y., Zhang, W., Duan, M., Yang, J., 2026, “Toward a High-Throughput Automated Materials Experimentation Platform: Hybrid-Automata-Inspired Modeling and Equipment Configuration Optimization,” IEEE Transactions on Automation Science and Engineering, 23, 11609-11620.

MAAL Team Wiki

Thu, 27 Aug 2026 00:00:00 +0000

The MAAL Team Wiki is the lab’s shared knowledge base for reusable guidance, with a focus on open-source projects, outreach, and related team workflows.

Visit the team wiki

Sensorless contact wrench estimation for industrial robots

Tue, 11 Aug 2026 00:00:00 +0000

Robots used for polishing, assembly, and manipulation need reliable contact-force feedback. A six-axis wrist force/torque sensor provides direct measurements, but adds cost, wiring, payload, and integration constraints. This project estimates the same six-dimensional contact wrench from signals already available on the robot: joint motion and motor current.

Dual-stage estimation

The estimator combines a physics-based robot model with two learned residual corrections:

Free-space dynamics compensation. An LSTM learns joint-torque errors caused by friction, backlash, hysteresis, parameter mismatch, and torque-conversion bias using contact-free trajectories.
Contact wrench compensation. A temporal encoder and residual network correct the remaining task-space error during contact and predict an input-dependent uncertainty for each wrench axis.

Separating these responsibilities keeps the estimate anchored to robot mechanics while allowing each learning stage to focus on a distinct error source.

Experimental validation

The method was evaluated on a six-axis industrial manipulator. A cable-and-pulley rig applied loads of 0.5, 1.0, and 1.5 kg from multiple directions. A wrist load cell sampled at 1 kHz supplied training labels and evaluation ground truth, but was not used as an input during sensorless inference.

Stage I reduced the Joint 1 residual-torque RMSE from 4.2649 to 0.8591 Nm and the Joint 2 RMSE from 3.1453 to 1.0069 Nm. Across the final six-axis wrench evaluation, the dual-stage method achieved the lowest reported RMSE, maximum error, and relative error on every force and moment axis.

Metric	Fx	Fy	Fz	Mx	My	Mz
RMSE	1.5959 N	0.7067 N	1.9678 N	0.1367 Nm	0.1141 Nm	0.0538 Nm
Maximum error	5.9546 N	4.4262 N	5.3414 N	0.7739 Nm	0.4898 Nm	0.4104 Nm
Relative error	13.8%	5.8%	13.4%	17.6%	22.2%	8.3%

Why it matters

The main contribution is not simply a deeper network, but a physically meaningful decomposition of the estimation problem. The intermediate output makes each correction inspectable, while the probabilistic second stage provides a condition-dependent confidence signal. This creates a practical path toward lower-cost force-aware robots and future closed-loop force control without a permanently installed wrist sensor.

Flexible industrial robot dynamics and control

Tue, 06 Jan 2026 00:00:00 +0000

Industrial robots change stiffness and vibration behavior with their position and posture. This project establishes dynamic models that capture both joint and link flexibility without making the model too costly to use in control.

Approach

Represent geometrically nonlinear links with strain-based beam elements and modal coordinates.
Identify configuration-dependent vibration from experimental data.
Generate nonlinear filtered B-spline trajectories that suppress motion-induced vibration.
Validate compensation strategies on industrial robotic platforms.

Why it matters

More accurate dynamic models allow robots to move faster while maintaining precision. The same methods support robotic machining, additive manufacturing, and large-reach manipulation.

Additive manufacturing process monitoring and control

Mon, 05 Jan 2026 00:00:00 +0000

This project combines additive-manufacturing process models with the dynamics of the motion platform. Thermal cameras, nozzle cameras, accelerometers, and position sensors provide synchronized data for monitoring and compensation.

Research questions

How can process and machine dynamics be represented in one control-oriented model?
Which visual and thermal signals reveal defects early enough for correction?
How should local and cloud controllers share model-based and data-driven tasks?

Expected outcomes

The project develops in-situ monitoring, extrusion-trajectory compensation, and control strategies that improve dimensional accuracy and process stability.

Continuous-fiber additive manufacturing

Sun, 04 Jan 2026 00:00:00 +0000

Continuous fibers can make additively manufactured components significantly stronger and stiffer, but only when the fiber paths follow the structural demands of the part.

Research scope

Build computationally efficient models of free-form composite parts.
Optimize fiber paths for modulus, strength, mass, cost, and manufacturability.
Translate optimized paths into reliable multi-axis fabrication.
Measure the printed parts and connect observed performance back to the model.

The result is an integrated design-to-fabrication workflow for high-performance composite components.

MECH 6910S · Advanced Additive Manufacturing and Topology Optimization

Sun, 04 Jan 2026 00:00:00 +0000

Instructor:

The course introduces seven state-of-the-art additive manufacturing technologies for different material systems. Students study physical principles, process models, and the effects of process parameters before connecting that knowledge to computer-aided design and manufacturing.

Topology optimization is a central part of the course. Students generate structurally efficient designs based on loads, constraints, product requirements, and manufacturing conditions, then fabricate selected parts using metal selective laser sintering or continuous-fiber additive manufacturing.

Download syllabus

View roadmap

Flexible aircraft reduced-order modeling and load alleviation

Sat, 03 Jan 2026 00:00:00 +0000

Flexible and very flexible aircraft improve structural weight and aerodynamic efficiency, but their flight dynamics are tightly coupled with structural deformation.

Approach

Construct reduced-order structural and aerodynamic models.
Preserve the aeroelastic behavior needed for control design.
Use the model to evaluate load, fuel efficiency, and flight trajectories.
Develop load-alleviation and flight-control algorithms.
Verify models and controllers through wind-tunnel experiments.

The project makes high-fidelity aeroelastic behavior accessible to analysis and real-time control.

MESF 5580 · Topology Optimization and Additive Manufacturing

Sat, 03 Jan 2026 00:00:00 +0000

Instructor:
Teaching assistant:

This course surveys seven additive manufacturing technologies, their physical principles, process models, and parameter effects. It then introduces design-for-additive-manufacturing practices with an emphasis on topology optimization.

Students learn to generate structurally optimal designs that account for loads, constraints, required product performance, and manufacturing conditions.

Download syllabus

View roadmap

MECH 4000O · Introduction to Additive Manufacturing and Rapid Prototyping

Fri, 02 Jan 2026 00:00:00 +0000

Instructor:
Teaching assistant:

This course introduces fused deposition modeling, material jetting, selective laser sintering, directed energy deposition, stereolithography, and digital light processing across a range of materials.

Students review CAD/CAM and design principles for additive manufacturing, then gain hands-on experience with continuous-carbon-fiber printers through the design, fabrication, measurement, and testing of parts.

Download syllabus

View roadmap

Student project highlights

Fiber-reinforced fixture

A 3D-printed continuous-fiber fixture.

Fiber-reinforced connector

Design and fabrication of a structural connector.

Fiber-reinforced bearing disk

A lightweight printed bearing component.

VTOL data-driven modeling and control allocation

Fri, 02 Jan 2026 00:00:00 +0000

Vertical takeoff and landing aircraft operate across flight regimes where aerodynamics, rotor-wing interaction, and actuator authority change substantially.

Approach

Combine physics-based models with flight-test data.
Identify aerodynamic effects at high angles of attack.
Model rotor-wing-airframe interaction and thruster vectoring.
Use the hybrid model in a control-allocation framework across takeoff, transition, cruise, and landing.

The aim is a model that is both physically interpretable and accurate enough for robust flight control.

A computation-efficient path planning method for robotic manipulators using evolving artificial repulsive force over expanding obstacles

Thu, 01 Jan 2026 00:00:00 +0000

Duan, M., Zhou, Y., and Cheung, Y.H., IP.PA.12873, “A computation-efficient path planning method for robotic manipulators using evolving artificial repulsive force over expanding obstacles,” US Provisional Application 64/041,762 (filed Apr 2026); CN Application (approved for filing).

Adaptive optimal control allocation of over-actuated VTOL UAVs for wind resilience and power efficiency

Thu, 01 Jan 2026 00:00:00 +0000

Duan, M., Mei, Y., Wang, H., Shan, X., Li, Y., and Dong, B., IP.PA.12865, “Adaptive optimal control allocation of over-actuated VTOL UAVs for wind resilience and power efficiency,” CN Application (approved for filing). Assignees: HKUST and SUSTech.

ADASH A4404 Signal Analyzer

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Aerodynamics and Acoustics Facility, HKUST

A portable vibration analyzer controlled from a computer through the Virtual Unit software for configurable measurement and diagnosis.

Specifications and access

Aeroelastic Simulation Wiki

Thu, 01 Jan 2026 00:00:00 +0000

The Aeroelastic Simulation Wiki gathers practical guides, examples, and learning material for flexible-aircraft simulation workflows.

Visit the public wiki

Anisoprint Composer A4

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Department of Mechanical and Aerospace Engineering, HKUST

A composite 3D printer for complex thermoplastic parts reinforced with continuous carbon-fiber filaments.

Specifications and access

ASGHAR, Arafat

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Control systems
Visual servo control of robotics and additive manufacturing

Contact and profiles

Email:

ATOS Non-contact 3D Scanner

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Materials, Design and Manufacturing Facility, HKUST

A non-contact scanning system for reverse engineering, rapid prototyping, dimensional inspection, and production quality control.

BIO X Bioprinter

Thu, 01 Jan 2026 00:00:00 +0000

Owner: MAAL

A multi-head bioprinting platform used in tissue engineering, drug discovery, toxicity studies, and advanced 3D cell culture.

Specifications and access

Boom-lift-mounted robotic systems

Thu, 01 Jan 2026 00:00:00 +0000

Mounting a robotic manipulator on a boom lift extends its workspace, but the flexible, extendable support introduces configuration-dependent vibration and positioning error.

This project models the coupled boom-and-robot system, identifies changing structural dynamics, and develops trajectory and active-compensation methods for accurate long-reach operations.

Applications include inspection, maintenance, construction, and manufacturing tasks where conventional fixed-base robots cannot reach.

Bruker NPFLEX 3D Surface Metrology

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Materials, Design and Manufacturing Facility, HKUST

A non-contact areal surface-characterization system for large samples in aerospace, automotive, biomedical, and precision-machining applications.

Cable-driven Robot

Thu, 01 Jan 2026 00:00:00 +0000

Owner: MAAL

A six-cable additive-manufacturing platform that provides three-axis translation together with pitch and roll control.

CHEN, Siqi

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Additive manufacturing control with thermal cameras

Contact and profiles

Email:

CHEUNG, Yim Ho

Thu, 01 Jan 2026 00:00:00 +0000

MPhil Student

Research areas

Robot modeling and control

Contact and profiles

Email:

DONG, Boge

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Load alleviation of flexible aircraft wings

Contact and profiles

Email:

DUAN, Molong

Thu, 01 Jan 2026 00:00:00 +0000

Principal Investigator

Assistant Professor, Department of Mechanical and Aerospace Engineering; Associate Director of the Research Center on Smart Manufacturing.

Research areas

Modeling and control of dynamic systems
Robotic manufacturing vibration compensation
Additive manufacturing control
Continuous-fiber additive manufacturing
Flexible aircraft modeling and control
VTOL aircraft modeling and control

Contact and profiles

Email:
Telephone: (+852) 3469-3024
Office: Room 2570, HKUST Academic Building

FARO Laser Tracker

Thu, 01 Jan 2026 00:00:00 +0000

Owner: MAAL

A large-volume coordinate-measurement instrument that locates optical targets with accuracy on the order of 0.025 mm over several metres.

Specifications and access

Flashforge Adventurer 3

Thu, 01 Jan 2026 00:00:00 +0000

Owner: MAAL

A compact FDM printer for rapid PLA prototypes, with a nominal dimensional accuracy of ±0.2 mm.

Specifications and access

Flashforge Creator 3

Thu, 01 Jan 2026 00:00:00 +0000

Owner: MAAL

A dual-extrusion FDM platform for precise prototypes and small production runs, with a high-precision mechanical structure and network connectivity.

Specifications and access

FLIR Lepton 3.5 Thermal Camera

Thu, 01 Jan 2026 00:00:00 +0000

Owner: MAAL

A compact thermal-imaging module used to monitor extruded-filament temperature and provide process feedback in additive manufacturing.

Specifications and access

GUO, Zeshi

Thu, 01 Jan 2026 00:00:00 +0000

Postdoctoral Fellow

Research areas

Fiber-reinforced composite additive manufacturing
In-situ resource utilization on the Moon and Mars

HE, Dong

Thu, 01 Jan 2026 00:00:00 +0000

Postdoctoral Fellow

Research areas

Multi-axis additive and subtractive manufacturing

Contact and profiles

Email:

HE, Shuaiyin

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Composite additive manufacturing

Contact and profiles

Email:

HSR-Co603-600

Thu, 01 Jan 2026 00:00:00 +0000

Owner: MAAL

A collaborative manipulator used for kinematic modeling and real-time position, velocity, and force control under disturbance.

Specifications and access

HUANG, Bowen

Thu, 01 Jan 2026 00:00:00 +0000

Research Assistant

Research areas

Robot modeling and control

Contact and profiles

Email:

HUANG, Shifeng

Thu, 01 Jan 2026 00:00:00 +0000

Postdoctoral Fellow

Research areas

Dynamic modeling and identification of industrial robots
Calibration and compensation of kinematic errors

Contact and profiles

Email:

LAI, Chunhin

Thu, 01 Jan 2026 00:00:00 +0000

MPhil Student

Research areas

Modeling and control of robotics and electric vehicles

Contact and profiles

Email:

LAW, Fu Chung

Thu, 01 Jan 2026 00:00:00 +0000

MPhil Student

Research areas

Visual grasping
Computer vision

Contact and profiles

Email:

LI, Fang

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Additive manufacturing of carbon-fiber composites

Contact and profiles

Email:

LI, Yutong

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

LIU, Shuai

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Vibration compensation in additive manufacturing
Cable-driven parallel robots

Contact and profiles

Email:

LOU, Gao

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Robotic modeling and control

Contact and profiles

Email:

MECH 2520 · Design Expo

Thu, 01 Jan 2026 00:00:00 +0000

The MECH 2520 Design Expo brings course learning, student design work, prototypes, posters, and presentations together in one exhibition.

Download the student handbook

MEI, Yihan

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Vertical takeoff and landing aircraft

Contact and profiles

Email:

PCB 356A17 Accelerometer

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Aerodynamics and Acoustics Facility, HKUST

A triaxial accelerometer used for vibration measurements and dynamic-system identification.

Specifications and access

Sensorless contact forces estimation method for robotic manipulators using dual-stage temporal-residual neural network compensation

Thu, 01 Jan 2026 00:00:00 +0000

Duan, M., Zhou, Y., and Cheung, Y.H., IP.PA.12872, “Sensorless contact forces estimation method for robotic manipulators using dual-stage temporal-residual neural network compensation,” US Provisional Application 64/041,767 (filed Apr 2026); CN Application 202611125274.2 (filed Jul 2026).

SHI, Yu

Thu, 01 Jan 2026 00:00:00 +0000

Postdoctoral Fellow

Research areas

Robust control
Reinforcement learning
Robotic locomotion and manipulation

Small Wind Tunnel

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Aerodynamics and Acoustics Facility, HKUST

An open-return wind tunnel with a 4.5 kW motor and a reconfigurable test section for aerodynamic and aeroelastic experiments.

Specifications and access

Stäubli TX60

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Robotics Institute, HKUST

A six-axis industrial robot used to study flexible-link and joint dynamics, end-effector errors, trajectory generation, and vibration compensation.

Specifications and access

Universal Testing Machine

Thu, 01 Jan 2026 00:00:00 +0000

Owner: Department of Mechanical and Aerospace Engineering, HKUST

A universal test frame for tensile and compressive characterization of materials and printed specimens.

Specifications and access

WANG, Sichen

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Mobile robots and cooperative control

Contact and profiles

Email:

WU, Yishang

Thu, 01 Jan 2026 00:00:00 +0000

Research Assistant

Research areas

Robot modeling and control

YANG, Yuexin

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Thermal-camera-enabled additive manufacturing control

Contact and profiles

Email:

YE, Pengfei

Thu, 01 Jan 2026 00:00:00 +0000

MPhil Student

Research areas

Robot modeling and control

Contact and profiles

Email:

ZHOU, Yi

Thu, 01 Jan 2026 00:00:00 +0000

PhD Student

Research areas

Robot modeling and control

Contact and profiles

Email:

Contact-force-based closed-loop control of multi-axis additive manufacturing With continuous-fiber-reinforced polymer

Wed, 31 Dec 2025 00:00:00 +0000

Yang, Y., Zhou, Y., Duan, M.*, 2025, “Contact-force-based closed-loop control of multi-axis additive manufacturing With continuous-fiber-reinforced polymer,” ASME International Manufacturing Science and Engineering Conference, Greenville.

Optimal-transport-based geometry modeling for material extrusion additive manufacturing

Wed, 31 Dec 2025 00:00:00 +0000

Chen, S., Liu, S., He, S., Duan, M.*, 2025, “Optimal-transport-based geometry modeling for material extrusion additive manufacturing,” Journal of Manufacturing Process, 154, pp. 236-248.

Additive manufacturing with continuous fiber: a comparison between prepreg and in-situ impregnated fiber on printing accuracy, bonding, and mechanical performance

Tue, 30 Dec 2025 00:00:00 +0000

Xu, Z., He, S., Lou, K., Chen, S., Duan, M.*, 2025, “Additive manufacturing with continuous fiber: a comparison between prepreg and in-situ impregnated fiber on printing accuracy, bonding, and mechanical performance,” ASME International Manufacturing Science and Engineering Conference, Greenville.

Evolving stress-guided continuous fiber path optimization for multi-axis additive manufacturing of composite shells

Tue, 30 Dec 2025 00:00:00 +0000

Yang, Y., Xu, Z., Duan, M.*, 2025, “Evolving stress-guided continuous fiber path optimization for multi-axis additive manufacturing of composite shells,” Additive Manufacturing, 113, pp. 105012.

DED bead geometry and profile prediction with multimodal spatio-temporal neural networks

Mon, 29 Dec 2025 00:00:00 +0000

Zhang, W., Wang, Y., Chen, Y., Deng, X., Wang, Y., Duan, M., Hu, P., Tang, K.*, 2025, “DED bead geometry and profile prediction with multimodal spatio-temporal neural networks,” Additive Manufacturing, pp. 104952.

Optimal Trajectory Generation and Feedback Tension Control of a Robotic Space Tether Launching System

Mon, 29 Dec 2025 00:00:00 +0000

Liu, S., Wang, S., Duan, M.*, 2025, “Optimal Trajectory Generation and Feedback Tension Control of a Robotic Space Tether Launching System,” International Conference on Control Science and Systems Engineering (ICCSSE), Beijing.

Superwetting, self-sterilizing Cu/CuZn-ZnO grating via laser engineering for advanced droplet sensing

Sun, 28 Dec 2025 00:00:00 +0000

Pan, Y., Lu, X., Yu, R., Jing, L., Xu, Y., Poon, W., Zhong, H., Chen, S., Duan, M., Liu, Y., Li, M.G.*, 2025, “Superwetting, self-sterilizing Cu/CuZn-ZnO grating via laser engineering for advanced droplet sensing,” Small, 21, 27, pp. 02976.

Dynamic load alleviation of input-redundant flexible aircraft via nonlinear control allocation over invariant manifold

Sat, 27 Dec 2025 00:00:00 +0000

Dong, B., Zhou, Y., Duan, M.*, 2025, “Dynamic load alleviation of input-redundant flexible aircraft via nonlinear control allocation over invariant manifold,” Aerospace Science and Technology, 162, pp. 110119.

Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection

Fri, 26 Dec 2025 00:00:00 +0000

Liu, S., Duan, M.*, 2025, “Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection,” Mechanism and Machine Theory, 210, pp. 106016.

Dynamic robotic bricklaying force-position control considering mortar dynamics for enhanced consistency

Thu, 25 Dec 2025 00:00:00 +0000

Zhou, Y., Huang, B., Dong, B., Wen, Y., Duan, M.*, 2025, “Dynamic robotic bricklaying force-position control considering mortar dynamics for enhanced consistency,” Automation in Construction, 174, pp. 106090.

An analytical approach for dealing with explicit physical constraints in excitation optimization problems of dynamic identification

Wed, 24 Dec 2025 00:00:00 +0000

Huang, S., Li, F., Zhou, X., Duan, M.*, 2025, “An analytical approach for dealing with explicit physical constraints in excitation optimization problems of dynamic identification,” IEEE Transactions on Robotics, pp. 1 - 20.

Freeform trajectory generation for fiber reinforced polymer composites additive manufacturing with variable-deposition-width

Tue, 23 Dec 2025 00:00:00 +0000

Bi, D., Hu, P., Li, Z., Hao, J., Tang, K., Duan, M.*, 2024, “Freeform trajectory generation for fiber reinforced polymer composites additive manufacturing with variable-deposition-width,” Composites Part A: Applied Science and Manufacturing, 188, pp. 108516.

A force-position control system for robot bricklaying considering mortar dynamics

Wed, 01 Jan 2025 00:00:00 +0000

Duan, M., and Zhou, Y., IP.PA.12763, “A force-position control system for robot bricklaying considering mortar dynamics,” US Provisional Application 63/915,650 (filed Nov 2025); CN Application (approved for filing).

Optimal trajectory generation and feedback tension control of a robotic space tether launching system

Wed, 01 Jan 2025 00:00:00 +0000

Duan, M., Liu, S., and Wang, S., IP.PA.12761, “Optimal trajectory generation and feedback tension control of a robotic space tether launching system,” US Provisional Application 63/911,507 (filed Nov 2025); US Application (approved for filing); CN Application (approved for filing).

Continuous fiber path optimization in additive manufacturing: A gradient-based B-spline finite element approach

Tue, 31 Dec 2024 00:00:00 +0000

He, S., Ma, P., Duan, M.*, 2024, “Continuous fiber path optimization in additive manufacturing: A gradient-based B-spline finite element approach,” Additive Manufacturing, 86, pp. 104155.

Design, Manufacturing, and Control of a Cable-Driven Bionic Robotic Hand

Tue, 31 Dec 2024 00:00:00 +0000

Lai, C., Liu, S., Duan, M.*, 2024, “Design, Manufacturing, and Control of a Cable-Driven Bionic Robotic Hand,” IEEE International Conference on Robotics and Biomimetics (ROBIO), Bangkok.

Vibration compensation of an Extendable Variable-Stiffness Boom-Lift-Mounted Robot

Mon, 30 Dec 2024 00:00:00 +0000

Zhou, Y., Duan, M.*, 2024, “Vibration compensation of an Extendable Variable-Stiffness Boom-Lift-Mounted Robot,” IEEE/ASME Transactions on Mechatronics, 29, 4, pp. 2812-2820.

Wind resistant transition trajectory generation of VTOL aircraft under control allocation framework

Mon, 30 Dec 2024 00:00:00 +0000

Lou, G., Duan, M.*, Liang, Y., Shan, X., 2024, “Wind resistant transition trajectory generation of VTOL aircraft under control allocation framework,” AIAA Scitech Forum, Orlando.

Contact-force-based closed-loop control of shell structure additive manufacturing with continuous-fiber-reinforced polymer composites

Sun, 29 Dec 2024 00:00:00 +0000

Yang, Y., Zhou, Y., Duan, M.*, 2024, “Contact-force-based closed-loop control of shell structure additive manufacturing with continuous-fiber-reinforced polymer composites,” Journal of Materials Processing Technology, 331, pp. 118501.

Dynamic geometric modeling for directed energy deposition process

Sun, 29 Dec 2024 00:00:00 +0000

Zhang, W., Chen, S., Dong, B., Chen, Y., Deng, X., Duan, M., Tang, K.*, 2024, “Dynamic geometric modeling for directed energy deposition process,” ASME International Manufacturing Science and Engineering Conference, Knoxville.

Mechanical and morphological variations of basalt fiber in seawater and a strategy to improve its performance with nanocomposite sizing

Sat, 28 Dec 2024 00:00:00 +0000

Li, M., Li, H., Ahizlane, A., Liang, C., Duan, M., Xing, D., Ma, P.*, 2024, “Mechanical and morphological variations of basalt fiber in seawater and a strategy to improve its performance with nanocomposite sizing,” Construction and Building Materials, 420, pp. 135582.

Control-oriented modeling for flexible aircraft

Fri, 27 Dec 2024 00:00:00 +0000

Duan, M., Cesnik, C.E.S.*, Kolmanovsky, I. V., Vetrano, F., 2024, “Control-oriented modeling for flexible aircraft,” Journal of Aircraft, 61(1), pp. 183-195.

Lab students hike the MacLehose Trail

Tue, 01 Oct 2024 00:00:00 +0000

MAAL students spent the National Day holiday hiking the second section of Hong Kong’s MacLehose Trail, taking time away from the lab to explore, recharge, and strengthen the team.

Students recognized at the Mechanical Engineering Innovation and Creativity Competition

Sat, 28 Sep 2024 00:00:00 +0000

Congratulations to the MAAL students whose work was recognized at the Mechanical Engineering Innovation and Creativity Competition.

Prof. Duan speaks at COMAC International Science and Technology Innovation Week

Fri, 23 Aug 2024 00:00:00 +0000

Prof. Molong Duan presented MAAL’s work at the seventh COMAC International Science and Technology Innovation Week.

Continuous fiber path optimization approach in additive manufacturing

Mon, 01 Jan 2024 00:00:00 +0000

Duan, M., and He, S., IP.PA.02094, “Continuous fiber path optimization approach in additive manufacturing,” US Provisional Application 63/635,609 (filed Apr 2024); CN Application 202510097967.4 (filed Jan 2025, published).

Immersive learning in mechanical engineering via an online community-based augmented reality platform

Sun, 31 Dec 2023 00:00:00 +0000

Duan, M.*, Fattah, R.J., Li, L., Park, J., 2023, “Immersive learning in mechanical engineering via an online community-based augmented reality platform,” International Conference on Learning and Teaching for Future Readiness, Hong Kong SAR, CN.

In-situ additive manufacturing deposition trajectory monitoring and compensation with thermal camera

Sun, 31 Dec 2023 00:00:00 +0000

Chen, S., Yang, Y., Liu, S., Duan, M.*, 2023, “In-situ additive manufacturing deposition trajectory monitoring and compensation with thermal camera,” Additive Manufacturing, 78, pp. 103820.

Design, manufacturing, modelling, and control of a cable-driven parallel robot for additive manufacturing

Sat, 30 Dec 2023 00:00:00 +0000

Duan, M.*, Feng, J., Liu, S., 2023, “Design, manufacturing, modelling, and control of a cable-driven parallel robot for additive manufacturing,” IEEE International Conference on Automation Science and Engineering (CASE), Auckland.

Strength-enhanced volume decomposition for multi-directional additive manufacturing

Sat, 30 Dec 2023 00:00:00 +0000

Bi, D., Duan, M., Lau, T., Xie, F., Tang, K.*, 2023, “Strength-enhanced volume decomposition for multi-directional additive manufacturing,” Additive Manufacturing, 69, pp. 103529.

A physics-guided data-driven feedforward tracking controller for systems with unmodeled dynamics—applied to 3D printing

Fri, 29 Dec 2023 00:00:00 +0000

Chou, C., Duan, M., Okwudire, C.*, 2023, “A physics-guided data-driven feedforward tracking controller for systems with unmodeled dynamics—applied to 3D printing,” IEEE Access, 11, pp. 14563-14574.

Thermal-image-enabled additive manufacturing process monitoring and extrusion trajectory compensation

Fri, 29 Dec 2023 00:00:00 +0000

Duan, M.*, Chen, S., Yang, Y., 2023, “Thermal-image-enabled additive manufacturing process monitoring and extrusion trajectory compensation,” ASME International Manufacturing Science and Engineering Conference, New Brunswick.

Continuous fiber path optimization in composite additive manufacturing

Thu, 28 Dec 2023 00:00:00 +0000

Duan, M.*, He, S., 2023, “Continuous fiber path optimization in composite additive manufacturing,” ASME International Manufacturing Science and Engineering Conference, New Brunswick.

Extendable variable-stiffness boom-lift-mounted robot with vibration compensation

Sun, 01 Jan 2023 00:00:00 +0000

Duan, M., and Zhou, Y., IP.PA.02024, “Extendable variable-stiffness boom-lift-mounted robot with vibration compensation,” US Provisional Application 63/615,786 (filed Dec 2023); US Patent 12,654,313 (issued Jun 2026); CN Application 202411946171.3 (filed Dec 2024, published); HK Application 42025111199.3 (filed Aug 2025, published).

In-situ additive manufacturing deposition trajectory monitoring and compensation system with thermal camera

Sun, 01 Jan 2023 00:00:00 +0000

Duan, M., Chen, S., and Yang, Y., IP.PA.01890, “In-situ additive manufacturing deposition trajectory monitoring and compensation system with thermal camera,” US Provisional Application 63/505,696 (filed Jun 2023); CN Patent ZL202410710170.2 (issued Sep 2025).

Load alleviation of flexible aircraft by dynamic control allocation

Sat, 31 Dec 2022 00:00:00 +0000

Hansen, J.H., Duan, M., Kolmanovsky, I. V., Cesnik, C.E.S.*, 2022, “Load alleviation of flexible aircraft by dynamic control allocation,” Journal of Guidance, Control, and Dynamics, 45, 10, pp. 1890-1898.

Model predictive control for very flexible aircraft based on linear parameter varying reduced-order models

Sat, 31 Dec 2022 00:00:00 +0000

Pereira, M.F.V., Duan, M., Cesnik, C.E.S., Kolmanovsky, I. V., Vetrano, F.*, 2022, “Model predictive control for very flexible aircraft based on linear parameter varying reduced-order models,” International Forum on Aeroelasticity and Structural Dynamics, Madrid.

A hybrid filtered basis functions approach for tracking control of linear systems with unmodeled nonlinear dynamics

Fri, 31 Dec 2021 00:00:00 +0000

Chou, C., Duan, M., Okwudire, C.*, 2021, “A hybrid filtered basis functions approach for tracking control of linear systems with unmodeled nonlinear dynamics,” IEEE International Conference on Automation Science and Engineering (CASE), Lyon.

A linear hybrid model for enhanced servo error precompensation of feed drives with unmodeled nonlinear dynamics

Fri, 31 Dec 2021 00:00:00 +0000

Chou, C., Duan, M., Okwudire, C.*, 2021, “A linear hybrid model for enhanced servo error precompensation of feed drives with unmodeled nonlinear dynamics,” CIRP Annals - Manufacturing Technology, 70, pp. 301-304.

Maneuver load alleviation of very flexible aircraft via nonlinear decoupling control

Thu, 30 Dec 2021 00:00:00 +0000

Duan, M., Kolmanovsky, I. V., Cesnik, C.E.S.*, 2021, “Maneuver load alleviation of very flexible aircraft via nonlinear decoupling control,” AIAA Scitech Forum, Online.

Nonlinear control-oriented modeling for very flexible aircraft

Wed, 29 Dec 2021 00:00:00 +0000

Duan, M., Cesnik, C.E.S., Kolmanovsky, I. V., Vetrano, F.*, 2021, “Nonlinear control-oriented modeling for very flexible aircraft,” AIAA Scitech Forum, Online.

Control Allocation for Maneuver and Gust Load Alleviation of Flexible Aircraft

Thu, 31 Dec 2020 00:00:00 +0000

Hansen, J.H., Duan, M., Kolmanovsky, I. V., Cesnik, C.E.S.*, 2020, “Control Allocation for Maneuver and Gust Load Alleviation of Flexible Aircraft,” AIAA Scitech Forum, Orlando.

Energy optimal control of an over-actuated hybrid feed drive under variable-frequency

Thu, 31 Dec 2020 00:00:00 +0000

Duan, M., Ramani, K. S., Okwudire, C.*, 2020, “Energy optimal control of an over-actuated hybrid feed drive under variable-frequency,” Control Engineering Practice, 100, pp. 104442.

Use of filtered basis splines to compensate servo-induced motion errors

Wed, 01 Jan 2020 00:00:00 +0000

Duan, M., Okwudire, C.E., and Ramani, K.S., “Use of filtered basis splines to compensate servo-induced motion errors,” U.S. Patent 10585414, issued Mar. 2020.

Analytical and low-order numerical modeling of ball-to-ball contact friction in linear ball bearings and ball screws

Tue, 31 Dec 2019 00:00:00 +0000

Lin, B., Duan, M., Okwudire, C.*, 2019, “Analytical and low-order numerical modeling of ball-to-ball contact friction in linear ball bearings and ball screws,” Journal of Tribology, 141, 7, pp. 071401.

Maneuver load alleviation of flexible aircraft through control allocation: a case study using X-HALE

Tue, 31 Dec 2019 00:00:00 +0000

Duan, M., Hansen, J.H., Kolmanovsky, I. V., Cesnik, C.E.S.*, 2019, “Maneuver load alleviation of flexible aircraft through control allocation: a case study using X-HALE,” International Forum on Aeroelasticity and Structural Dynamics, Savannah.

Optimal selection of basis functions for minimum-effort tracking control of nonminimum phase systems using filtered basis functions

Mon, 30 Dec 2019 00:00:00 +0000

Ramani, K. S., Duan, M., Okwudire, C., Ulsoy, A.G.*, 2019, “Optimal selection of basis functions for minimum-effort tracking control of nonminimum phase systems using filtered basis functions,” Journal of Dynamic System, Measurement and Control, 141, 11, pp. 111009.

Connections between control allocation and linear quadratic control for weakly redundant systems

Sun, 29 Dec 2019 00:00:00 +0000

Duan, M., Okwudire, C.*, 2019, “Connections between control allocation and linear quadratic control for weakly redundant systems,” Automatica, 101, pp. 96-102.

An improved analytical model of friction and ball motion in linear ball bearings – with application to ball-to-ball contact prediction

Mon, 31 Dec 2018 00:00:00 +0000

Lin, B., Duan, M., Okwudire, C., Wou, J.S.*, 2018, “An improved analytical model of friction and ball motion in linear ball bearings – with application to ball-to-ball contact prediction,” ASME International Mechanical Engineering Congress and Exposition, Pittsburgh.

Proxy-based energy optimal dynamic control allocation for dual-input, single-output over-actuated systems

Mon, 31 Dec 2018 00:00:00 +0000

Duan, M., Okwudire, C.*, 2018, “Proxy-based energy optimal dynamic control allocation for dual-input, single-output over-actuated systems,” IEEE/ASME Transactions on Mechatronics, 23, 2, pp. 895 - 905.

A lifted domain-based metric for performance evaluation of LTI and LTV discrete-time tracking controllers

Sun, 30 Dec 2018 00:00:00 +0000

Ramani, K. S., Okwudire, C., Duan, M., Ulsoy, A.G.*, 2018, “A lifted domain-based metric for performance evaluation of LTI and LTV discrete-time tracking controllers,” International Symposium on Flexible Automation, Kanazawa.

A limited-preview filtered B-spline approach to tracking control – with application to vibration-induced error compensation of a 3D printer

Sun, 30 Dec 2018 00:00:00 +0000

Duan, M., Yoon, D., Okwudire, C.*, 2018, “A limited-preview filtered B-spline approach to tracking control – with application to vibration-induced error compensation of a 3D printer,” Mechatronics, 56, pp. 287-296.

Boosting Speed and Accuracy in Precision Motion Control

Mon, 01 Jan 2018 00:00:00 +0000

Ramani, K. S., Duan, M., Yoon, D., Okwudire, C. E., and Ulsoy, A. G., 2018, “Boosting Speed and Accuracy in Precision Motion Control,” Mechanical Engineering Magazine Select Articles, 140(09), pp. S17-S23.

Proxy-based optimal dynamic control allocation for multi-input, multi-output over-actuated systems

Sun, 31 Dec 2017 00:00:00 +0000

Duan, M., Okwudire, C.*, 2017, “Proxy-based optimal dynamic control allocation for multi-input, multi-output over-actuated systems,” ASME Dynamic Systems and Control Conference, Tysons.

Tracking control of linear time- invariant nonminimum phase systems using filtered basis functions

Sun, 31 Dec 2017 00:00:00 +0000

Ramani, K. S., Duan, M., Okwudire, C., Ulsoy, A.G.*, 2017, “Tracking control of linear time- invariant nonminimum phase systems using filtered basis functions,” Journal of Dynamic System, Measurement and Control, 139, 1, pp. 011001.

Software-based compensation of vibration-induced errors of a commercial desktop 3D printer

Sat, 30 Dec 2017 00:00:00 +0000

Yoon, D., Duan, M., Okwudire, C.*, 2017, “Software-based compensation of vibration-induced errors of a commercial desktop 3D printer,” International Conference on Virtual Machining Process Technology, Montréal.

A simplified analytical model of rolling/sliding behavior and friction in four-point-contact ball bearings and screws

Fri, 29 Dec 2017 00:00:00 +0000

Lin, B., Duan, M., Okwudire, C., Wou, J.S.*, 2017, “A simplified analytical model of rolling/sliding behavior and friction in four-point-contact ball bearings and screws,” ASME International Mechanical Engineering Congress and Exposition, Tampa.

Energy-efficient controller design for a redundantly actuated hybrid feed drive with application to machining

Sat, 31 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Energy-efficient controller design for a redundantly actuated hybrid feed drive with application to machining,” IEEE/ASME Transactions on Mechatronics, 21, 4, pp. 1822-1834.

Modeling and observer-based compensation of slip in a friction drive for servo positioning

Sat, 31 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Modeling and observer-based compensation of slip in a friction drive for servo positioning,” International Symposium on Flexible Automation, Cleveland.

A trajectory optimization method for improved tracking of motion commands using CNC machines that experience unwanted vibration

Fri, 30 Dec 2016 00:00:00 +0000

Okwudire, C., Ramani, K. S., Duan, M.*, 2016, “A trajectory optimization method for improved tracking of motion commands using CNC machines that experience unwanted vibration,” CIRP Annals - Manufacturing Technology, 65, 1, pp. 373-376.

Near energy optimal control allocation for dual-input over-actuated systems

Fri, 30 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Near energy optimal control allocation for dual-input over-actuated systems,” ASME Dynamic Systems and Control Conference, Minneapolis.

Minimum-time cornering for CNC machines using an optimal control method with NURBS parameterization

Thu, 29 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Minimum-time cornering for CNC machines using an optimal control method with NURBS parameterization,” International Journal of Advanced Manufacturing Technology, 85, pp. 1405-1418.

Tracking control of non-minimum phase systems using filtered basis functions: a NURBS-based approach

Thu, 31 Dec 2015 00:00:00 +0000

Duan, M., Ramani, K. S., Okwudire, C.*, 2015, “Tracking control of non-minimum phase systems using filtered basis functions: a NURBS-based approach,” ASME Dynamic Systems and Control Conference, Columbus.

Energy efficiency and performance optimized control of a hybrid feed drive

Wed, 30 Dec 2015 00:00:00 +0000

Duan, M., Okwudire, C.*, 2015, “Energy efficiency and performance optimized control of a hybrid feed drive,” ASME International Manufacturing Science and Engineering Conference, Charlotte.

Minimum-time cornering for manufacturing machines using optimal control

Wed, 31 Dec 2014 00:00:00 +0000

Duan, M., Okwudire, C.*, 2014, “Minimum-time cornering for manufacturing machines using optimal control,” ASME Dynamic Systems and Control Conference, San Antonio.