Research outputs connected to the work

Browse MAAL’s journal papers, conference contributions, patents, and technical articles. Use the site search to find a title, author, venue, year, or research topic. Publication pages provide a citation download and the original source whenever available.

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Journal articles
[J1] Y. Zhou, Y. H. Cheung, S. Liu, F. C. Law, Y. Shi, L. Han, M. Duan*, 2026, "Sensorless contact forces estimation for robotic manipulators using dual-stage temporal-residual neural network compensation," Control Engineering Practice, 176, 107140.
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[J2] Y. Zhou, B. Huang, Y. H. Cheung, P. Ye, M. Duan*, 2026, "Computation-Efficient Path Planning Using Evolving Artificial Repulsive Force over Expanding Obstacles for Robotic Manipulator," ISA Transactions.
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[J3] B. Dong, Y. Mei, X. Lu, Y. Zhou, S. Zhang, W. Wang, M. Duan*, 2026, "Gaussian-process-based sensor placement and uncertainty quantification for dynamic response reconstruction in flexible aeroelastic structures," Mechanical Systems and Signal Processing, 257, 114426.
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[J4] G. Lou, S. Liu, Y. Shen, W. Y. Wong, Y. Lu, M. Duan*, 2026, "Mobile Robot Inspection of Building Plenum Spaces via Vision-Based Multi-Sensor Fult Detection," Automation in Construction, 187.
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[J5] D. He, J. Hao, T. Y. Lau, L. Huang, Y. Chen, P. Hu, J. Xie, M. Duan, X. Liu, K. Tang*, 2026, "Property-controllable process planning for multi-axis hybrid manufacturing of complex metal parts," Computers in Industry, 179.
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[J6] Z. Chen, X. Lin, D. Luo, M. Duan, S. Cai, D. Xiao*, 2026, "Shortened current injection for sensorless switched reluctance motor drives based on high-sensitivity-region-optimized position observer," IEEE Transactions on Transportation Electrification, 11454632.
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[J7] Y. Li, W. Yu, M. Duan, B. Zhang, Z. Liu, Q. Li*, 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.
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[J8] A. Asghar, S. He, P. Hu, M. Duan*, 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.
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[J9] X. Li, P. Hu*, L. Huang, H. Chen, M. Duan, X. Zhang, 2026, "An efficient cutter-facet model projection method and applications to five-axis tool path computation," International Journal of Advanced Manufacturing Technology.
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[J10] Y. Chen, W. Zhang, Y. Wang, P. Hu*, M. Duan, Z. Fu, X. Deng, 2026, "Bead geometry prediction of directed energy deposition based on spatio-temporal neural network model," International Journal of Advanced Manufacturing Technology.
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[J11] G. Ma, H. Cui, C. Y. Yip, W. Zhang, M. Duan*, J. Yang*, 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.
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[J12] S. Chen, S. Liu, S. He, M. Duan*, 2025, "Optimal-transport-based geometry modeling for material extrusion additive manufacturing," Journal of Manufacturing Process, 154, pp. 236-248.
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[J13] Y. Yang, Z. Xu, M. Duan*, 2025, "Evolving stress-guided continuous fiber path optimization for multi-axis additive manufacturing of composite shells," Additive Manufacturing, 113, pp. 105012.
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[J14] W. Zhang, Y. Wang, Y. Chen, X. Deng, Y. Wang, M. Duan, P. Hu, K. Tang*, 2025, "DED bead geometry and profile prediction with multimodal spatio-temporal neural networks," Additive Manufacturing, pp. 104952.
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[J15] Y. Pan, X. Lu, R. Yu, L. Jing, Y. Xu, W. Poon, H. Zhong, S. Chen, M. Duan, Y. Liu, M. G. Li*, 2025, "Superwetting, self-sterilizing Cu/CuZn-ZnO grating via laser engineering for advanced droplet sensing," Small, 21, 27, pp. 02976.
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[J16] B. Dong, Y. Zhou, M. Duan*, 2025, "Dynamic load alleviation of input-redundant flexible aircraft via nonlinear control allocation over invariant manifold," Aerospace Science and Technology, 162, pp. 110119.
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[J17] S. Liu, M. Duan*, 2025, "Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection," Mechanism and Machine Theory, 210, pp. 106016.
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[J18] Y. Zhou, B. Huang, B. Dong, Y. Wen, M. Duan*, 2025, "Dynamic robotic bricklaying force-position control considering mortar dynamics for enhanced consistency," Automation in Construction, 174, pp. 106090.
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[J19] S. Huang, F. Li, X. Zhou, M. Duan*, 2025, "An analytical approach for dealing with explicit physical constraints in excitation optimization problems of dynamic identification," IEEE Transactions on Robotics, pp. 1 - 20.
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[J20] D. Bi, P. Hu, Z. Li, J. Hao, K. Tang, M. Duan*, 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.
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[J21] S. He, P. Ma, M. Duan*, 2024, "Continuous fiber path optimization in additive manufacturing: A gradient-based B-spline finite element approach," Additive Manufacturing, 86, pp. 104155.
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[J22] Y. Zhou, M. Duan*, 2024, "Vibration compensation of an Extendable Variable-Stiffness Boom-Lift-Mounted Robot," IEEE/ASME Transactions on Mechatronics, 29, 4, pp. 2812-2820.
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[J23] Y. Yang, Y. Zhou, M. Duan*, 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.
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[J24] M. Li, H. Li, A. Ahizlane, C. Liang, M. Duan, D. Xing, P. Ma*, 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.
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[J25] M. Duan, C. E. S. Cesnik*, I. V. Kolmanovsky, F. Vetrano, 2024, "Control-oriented modeling for flexible aircraft," Journal of Aircraft, 61(1), pp. 183-195.
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[J26] S. Chen, Y. Yang, S. Liu, M. Duan*, 2023, "In-situ additive manufacturing deposition trajectory monitoring and compensation with thermal camera," Additive Manufacturing, 78, pp. 103820.
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[J27] D. Bi, M. Duan, T. Lau, F. Xie, K. Tang*, 2023, "Strength-enhanced volume decomposition for multi-directional additive manufacturing," Additive Manufacturing, 69, pp. 103529.
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[J28] C. Chou, M. Duan, C. Okwudire*, 2023, "A physics-guided data-driven feedforward tracking controller for systems with unmodeled dynamics—applied to 3D printing," IEEE Access, 11, pp. 14563-14574.
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[J29] J. H. Hansen, M. Duan, I. V. Kolmanovsky, C. E. S. Cesnik*, 2022, "Load alleviation of flexible aircraft by dynamic control allocation," Journal of Guidance, Control, and Dynamics, 45, 10, pp. 1890-1898.
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[J30] C. Chou, M. Duan, C. Okwudire*, 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.
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[J31] M. Duan, K. S. Ramani, C. Okwudire*, 2020, "Energy optimal control of an over-actuated hybrid feed drive under variable-frequency," Control Engineering Practice, 100, pp. 104442.
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[J32] B. Lin, M. Duan, C. Okwudire*, 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.
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[J33] K. S. Ramani, M. Duan, C. Okwudire, A. G. Ulsoy*, 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.
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[J34] M. Duan, C. Okwudire*, 2019, "Connections between control allocation and linear quadratic control for weakly redundant systems," Automatica, 101, pp. 96-102.
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[J35] M. Duan, C. Okwudire*, 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.
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[J36] M. Duan, D. Yoon, C. Okwudire*, 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.
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[J37] K. S. Ramani, M. Duan, C. Okwudire, A. G. Ulsoy*, 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.
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[J38] M. Duan, C. Okwudire*, 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.
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[J39] C. Okwudire, K. S. Ramani, M. Duan*, 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.
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[J40] M. Duan, C. Okwudire*, 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.
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Conference papers
[C1] P. Ye, Y. Ma, Y. Zhou, W. Chen, W. Dong, M. Duan*, 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.
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[C2] F. Li, F. Gao, Y. Yang, Y. Zhou, M. Duan*, 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.
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[C3] Y. Yang, Y. Zhou, M. Duan*, 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.
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[C4] Z. Xu, S. He, K. Lou, S. Chen, M. Duan*, 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.
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[C5] S. Liu, S. Wang, M. Duan*, 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.
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[C6] C. Lai, S. Liu, M. Duan*, 2024, "Design, Manufacturing, and Control of a Cable-Driven Bionic Robotic Hand," IEEE International Conference on Robotics and Biomimetics (ROBIO), Bangkok.
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[C7] G. Lou, M. Duan*, Y. Liang, X. Shan, 2024, "Wind resistant transition trajectory generation of VTOL aircraft under control allocation framework," AIAA Scitech Forum, Orlando.
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[C8] W. Zhang, S. Chen, B. Dong, Y. Chen, X. Deng, M. Duan, K. Tang*, 2024, "Dynamic geometric modeling for directed energy deposition process," ASME International Manufacturing Science and Engineering Conference, Knoxville.
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[C9] M. Duan*, J. Feng, S. Liu, 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.
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[C10] M. Duan*, S. Chen, Y. Yang, 2023, "Thermal-image-enabled additive manufacturing process monitoring and extrusion trajectory compensation," ASME International Manufacturing Science and Engineering Conference, New Brunswick.
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[C11] M. Duan*, S. He, 2023, "Continuous fiber path optimization in composite additive manufacturing," ASME International Manufacturing Science and Engineering Conference, New Brunswick.
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[C12] M. F. V. Pereira, M. Duan, C. E. S. Cesnik, I. V. Kolmanovsky, F. Vetrano*, 2022, "Model predictive control for very flexible aircraft based on linear parameter varying reduced-order models," International Forum on Aeroelasticity and Structural Dynamics, Madrid.
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[C13] C. Chou, M. Duan, C. Okwudire*, 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.
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[C14] M. Duan, I. V. Kolmanovsky, C. E. S. Cesnik*, 2021, "Maneuver load alleviation of very flexible aircraft via nonlinear decoupling control," AIAA Scitech Forum, Online.
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[C15] M. Duan, C. E. S. Cesnik, I. V. Kolmanovsky, F. Vetrano*, 2021, "Nonlinear control-oriented modeling for very flexible aircraft," AIAA Scitech Forum, Online.
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[C16] J. H. Hansen, M. Duan, I. V. Kolmanovsky, C. E. S. Cesnik*, 2020, "Control Allocation for Maneuver and Gust Load Alleviation of Flexible Aircraft," AIAA Scitech Forum, Orlando.
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[C17] M. Duan, J. H. Hansen, I. V. Kolmanovsky, C. E. S. Cesnik*, 2019, "Maneuver load alleviation of flexible aircraft through control allocation: a case study using X-HALE," International Forum on Aeroelasticity and Structural Dynamics, Savannah.
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[C18] B. Lin, M. Duan, C. Okwudire, J. S. Wou*, 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.
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[C19] K. S. Ramani, C. Okwudire, M. Duan, A. G. Ulsoy*, 2018, "A lifted domain-based metric for performance evaluation of LTI and LTV discrete-time tracking controllers," International Symposium on Flexible Automation, Kanazawa.
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[C20] M. Duan, C. Okwudire*, 2017, "Proxy-based optimal dynamic control allocation for multi-input, multi-output over-actuated systems," ASME Dynamic Systems and Control Conference, Tysons.
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[C21] D. Yoon, M. Duan, C. Okwudire*, 2017, "Software-based compensation of vibration-induced errors of a commercial desktop 3D printer," International Conference on Virtual Machining Process Technology, Montréal.
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[C22] B. Lin, M. Duan, C. Okwudire, J. S. Wou*, 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.
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[C23] M. Duan, C. Okwudire*, 2016, "Modeling and observer-based compensation of slip in a friction drive for servo positioning," International Symposium on Flexible Automation, Cleveland.
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[C24] M. Duan, C. Okwudire*, 2016, "Near energy optimal control allocation for dual-input over-actuated systems," ASME Dynamic Systems and Control Conference, Minneapolis.
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[C25] M. Duan, K. S. Ramani, C. Okwudire*, 2015, "Tracking control of non-minimum phase systems using filtered basis functions: a NURBS-based approach," ASME Dynamic Systems and Control Conference, Columbus.
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[C26] M. Duan, C. Okwudire*, 2015, "Energy efficiency and performance optimized control of a hybrid feed drive," ASME International Manufacturing Science and Engineering Conference, Charlotte.
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[C27] M. Duan, C. Okwudire*, 2014, "Minimum-time cornering for manufacturing machines using optimal control," ASME Dynamic Systems and Control Conference, San Antonio.
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Patents
[P1] M. Duan, S. Chen, and Y. Yang, 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).
[P2] M. Duan, and Y. Zhou, 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).
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[P3] M. Duan, and S. He, 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).
[P4] M. Duan, S. Liu, and S. Wang, 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).
[P5] M. Duan, and Y. Zhou, 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).
[P6] M. Duan, Y. Mei, H. Wang, X. Shan, Y. Li, and B. Dong, 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.
[P7] M. Duan, Y. Zhou, and Y. H. Cheung, 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).
[P8] M. Duan, Y. Zhou, and Y. H. Cheung, 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).
[P9] M. Duan, C. E. Okwudire, and K. S. Ramani, "Use of filtered basis splines to compensate servo-induced motion errors," U.S. Patent 10585414, issued Mar. 2020.
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Magazine articles
[M1] K. S. Ramani, M. Duan, D. Yoon, C. E. Okwudire, and A. G. Ulsoy, 2018, “Boosting Speed and Accuracy in Precision Motion Control,” Mechanical Engineering Magazine Select Articles, 140(09), pp. S17-S23.
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