Zhaoheng Liu

Professeur

Department

Département de génie mécanique

Degrees

B.Ing. (N.-E. Heavy Machinery Inst., Chine), M.Sc.A., Ph.D. (Université de Sherbrooke)

Office

A-1914

zhaoheng.liu@etsmtl.ca

Research unit

Visit the website :DYNAMO – Research Laboratory in Machine, Process and Structural Dynamics

Areas of expertise

Vibration
Analyse par éléments finis
Dynamique des systèmes mécaniques
Dynamique des systèmes multi-corps
Dynamique des véhicules
Broutement dans les procédes d'usinage robotisés
Robotique
Meulage
Dynamique non linéaire
Simulation des procédés de formage des métaux
Analyse par la méthode des éléments finis
Fiabilité et optimisation
Géométrie algorithmique 3D

Course

4 credits Hiver 2024

4 credits Automne 2024

Supervision

En codirection avec : Thien-My Dao
Optimisation de fiabilité des systèmes mécaniques par l'approche métaheuristique, par Jian Hua Zhao
Été 2005
Dynamics and parameter identification of a tractor semitrailer-driver closed-loop system using the simulated annealing optimization approach, par Jian Hua Chen
Été 2007
En codirection avec : Henri Champliaud
Simulation du comportement en torsion d'un démultiplicateur harmonique par la méthode des éléments finis, par François Etienne Rhéaume
Automne 2007
En codirection avec : Henri Champliaud
Finite Element Modeling and Simulation of Roll Bending Process for Forming a Thick Conical Hollow Shape, par Jun Zeng
Été 2007

En codirection avec : Seyedhossein Hajzargarbashi
Modélisation d'un robot industriel à l'aide de joint virtuel, par Christopher Lapointe
Été 2022
En codirection avec : Henri Champliaud
Modélisation du procédé de meulage sous-marin pour la réfection robotisée de surfaces d'acier, par Dominique Thuot
Été 2010
Co-simulation Adams Car et Simulink d'un véhicule routier articulé pour études de la stabilité et du contrôle du système à boucle fermée véhicule/contrôleur, par Cyril Gradt
Été 2022
Robotisation de l'ébavurage de précision : développement de procédés génériques par géométrie, par David Lafortune
Été 2011
En codirection avec : Succession Pascal Bigras
Caractérisation, modélisation et contrôle vibratoire d'une articulation rotoïde flexible, dédiée à un système robotique, par Joël Lessard
Hiver 2012
Étude du profilage d'outil de meulage dédié aux procédés robotisés, par Stéphane Agnard
Été 2013
Modélisation et simulation dynamique d'un robot avec bras et membrures flexibles par le logiciel MD Adams, par Thomas Santos
Été 2013
En codirection avec : Henri Champliaud
Étude de l'effet du martelage sur la vie en fatigue de l'acier E309L utilisé pour une réparation de turbines 13Cr-4Ni, par Jean-Loup Curtat
Hiver 2016
En codirection avec : Bruce Hazel
Développement d'une nouvelle méthode de profilage d'outil de meulage assisté par robot, par Oussama Ben Tanfous
Été 2017

Simulation et étude de vibrations d'un système d'entrainements par chaîne à rouleaux, par Diatta Gueye
Automne 2020
Caractérisation, modélisation et contrôle vibratoire d'un système d'alimentation à plaque (s) vibrante (s) dédié à un appareil de comptage, par Guillaume Savoie-Lavigueur
Hiver 2018
En codirection avec : Aline Beley
Validation de fonctionnalités en vibrations non-linéaires de structures du logiciel Ansys Mechanical, par Aubin Banchereau
Hiver 2024

Réalisation d'un mannequin cycliste dynamique échelle 1 à des fins d'essais en soufflerie, par Quentin Micheletti
Hiver 2024

Étude du comportement mécanique de l'interface entre tuyauterie sismique et non-sismique, par Julien Ruchot
Hiver 2024
Analyse spectrale et vibration aléatoire d'une structure d'un CubeSat 1U par la méthode des éléments finis, par Riadh Trabelsi
Été 2024

Stagiaire en génie mécanique, par Rim El Maache
Automne 2023

Modélisation et réalisation des tests de vérifications de performance d'antennes de satellite, par Antoine Sordelet
Hiver 2019

Study of Vibrations and Instability in a Robotic Grinding Process, par Farzad Rafieian Sichani
Automne 2013
Étude expérimentale et optimisation d'un système hybride hydraulique pour camions à ordures et amélioration des performances par raffinement de sa logique de contrôle, par Benoit Lacroix
Été 2011
En codirection avec : Henri Champliaud
Numeral and Experimental Study of a Flexible Robotic Grinding Process, par Amirmasoud Tahvilian
Automne 2014
En codirection avec : Marc Thomas
Identification des paramètres modaux de systèmes mécaniques non stationnaires : application à un robot flexible de meulage, par Wenchao Li
Automne 2016
Numerical and Experimental Study of Dynamics and Vibration Control of Flexible Joint Robots, par Minh Nha Pham
Hiver 2020
En codirection avec : Thien-My Dao
Optimization of Systems Reliability by Metaheuristic Approach, par Essa Abrahim Abdulgader Saleem
Hiver 2019
En codirection avec : Youmin Zhang
Fault-Tolerant Cooperative Control Design for a Team of Car-Like Vehicles with Actuator Faults and Fading Channels, par Mahmoud Hussein
Été 2023
En codirection avec : Vu Viet-Hung
Dynamic Modeling and Modal Analysis of Multiple Degrees of Freedom Robot Manipulators with Flexible Joints, par Thanh Trung Do
Hiver 2022
En codirection avec : Vu Viet-Hung
Autoregressive Model Updating for Modal Analysis of Non-Stationary Vibration Systems, par Thuyet Bui
Automne 2022
En codirection avec : Henri Champliaud
A Study on Hot Metal Spinning Process, par Mai-Van Tran
Automne 2024
En codirection avec : Seyedhossein Hajzargarbashi
Dynamic Parameter Estimation for 6-DOF Robot Manipulators using Gaussian Process Regression and Artificial Neural Network, par Seyed Hamed Seyed Hosseini
Automne 2024

Publications

Tranh-Trung Do, Viet-Hung Vu, Zhaoheng Liu. 2019 « Automatic generation of inverse dynamics for industrial robots with flexible joints using a computer algebra ». Affiche présentée lors de la conférence : Applications of Computer Algebra (ACA) (Montréal, QC, Canada, July 16-20, 2019)

Mahmoud Hussein, Youmin Zhang, Zaoheng Liu. 2024 « Fault-tolerant cooperative control design for car-like vehicles subject to actuator faults and fading channels ». IEEE Transactions on Control Systems Technology
Mahmoud Hussein, Youmin Zhang, Zhaoheng Liu. 2024 « Adaptive non-singular fast terminal sliding mode control for car-like vehicles with faded neighborhood information and actuator faults ». Journal of Intelligent and Robotic Systems: Theory and Applications vol. 110 , nº 2
Mahmoud Hussein, Youmin Zhang, Zhaoheng Liu. 2024 « Distributed fault-tolerant formation control design via high-order sliding mode for a team of car-like vehicles ». IEEE Transactions on Intelligent Vehicles vol. 9 , nº 2. p. 4221-4231
Kanglin Xing, Ilian A. Bonev, Henri Champliaud, Zhaoheng Liu. 2024 « Optimizing dynamic measurement accuracy for machine tools and industrial robots with unscented Kalman filter and particle swarm optimization methods ». Measurement Science and Technology vol. 35 , nº 8
Kanglin Xing, Ilian A. Bonev, Zhaoheng Liu, Henri Champliaud. 2024 « Influence of machining parameters on dynamic errors in a hexapod machining cell ». International Journal of Advanced Manufacturing Technology vol. 131 , nº 3-4. p. 1317-1334
Kanglin Xing, J. R. R. Mayer, Ilian A. Bonev, Henri Champliaud, Zhaoheng Liu. 2024 « Evaluation of the positioning accuracy along helical paths using a telescoping ballbar ». ASME Letters in Dynamic Systems and Control vol. 4 , nº 1
Thi-Thuyet Bui, Viet-Hung Vu, Zhaoheng Liu, Marc Thomas. 2023 « Updating singular value decomposition for modal analysis of slow-varying non-stationary vibration structures ». Journal of Vibration and Control
Thi-Thuyet Bui, Viet-Hung Vu, Zhaoheng Liu. 2022 « Modal analysis of slow varying non-stationary vibration by model updating with Schur complement ». Mechanical Systems and Signal Processing vol. 162
Thanh-Trung Do, Viet-Hung Vu, Zhaoheng Liu. 2022 « Linearization of dynamic equations for vibration and modal analysis of flexible joint manipulators ». Mechanism and Machine Theory vol. 167
Minh-Nha Pham, Henri Champliaud, Zhaoheng Liu, Ilian A. Bonev. 2022 « Parameterized finite element modeling and experimental modal testing for vibration analysis of an industrial hexapod for machining ». Mechanism and Machine Theory vol. 167
Thanh-Trung Do, Viet-Hung Vu, Zhaoheng Liu. 2021 « Symbolic differentiation algorithm for inverse dynamics of serial robots with flexible joints ». Journal of Mechanisms and Robotics vol. 13 , nº 6
Minh-Nha Pham, Bruce Hazel, Philippe Hamelin, Zhaoheng Liu. 2021 « Vibration control of flexible joint robots using a discrete-time two-stage controller based on time-varying input shaping and delay compensation ». Journal of Dynamic Systems, Measurement, and Control vol. 143 , nº 10
Daxian Hao, Wei Wang, Zhaoheng Liu, Chao Yun. 2020 « Experimental study of stability prediction for high-speed robotic milling of aluminum ». Journal of Vibration and Control vol. 26 , nº 7/8. p. 387-398
HtunHtun Oo, Wei Wang, Zhaoheng Liu. 2020 « Tool wear monitoring system in belt grinding based on image-processing techniques ». International Journal of Advanced Manufacturing Technology vol. 111 , nº 7-8. p. 2215-2229
Minh-Nha Pham, Philippe Hamelin, Bruce Hazel, Zhaoheng Liu. 2020 « A two-stage state feedback controller supported by disturbance-state observer for vibration control of a flexible-joint robot ». Robotica vol. 38 , nº 6. p. 1082-1104
Stéphane Agnard, Bruce Hazel, Zhaoheng Liu. 2018 « Study of grinding tool profiling for robotic processes ». Machining Science and Technology vol. 22 , nº 2. p. 203-224
Wenchao Li, Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Bruce Hazel. 2018 « Extraction of modal parameters for identification of time-varying systems using data-driven stochastic subspace identification ». Journal of Vibration and Control vol. 24 , nº 20. p. 4781-4796
Zhaoheng Liu, Kwok-wai Chung, Wei Wang. 2018 « A perturbed nonlinear model of an articulated vehicle with driver control ». Chaotic Modeling and Simulation , nº 3. p. 295-304
Essa Abrahim Abdulgader Saleem, Thien-My Dao, Zhaoheng Liu. 2018 « Multiple objective optimization and design of series-parallele using novel hybrid genetic algorithm meta-heuristic approach ». World Journal of Engineering and Technology vol. 6 , nº 3. p. 532-555
Jean-Loup Curtat, Jacques Lanteigne, Henri Champliaud, Zhaoheng Liu, Jean-Benoît Lévesque. 2017 « Influence of hammer peening on fatigue life of E309L steel used for 13%Cr-4%Ni blade runner repairs ». International Journal of Fatigue vol. 100. p. 68-77
Seyedbehzad Ghafarizadeh, Amir Masoud Tahvilian, Jean-François Chatelain, Zhaoheng Liu, Henri Champliaud, Gilbert Lebrun. 2017 « Numerical simulation of ball-end milling with SPH method ». International Journal of Advanced Manufacturing Technology vol. 88 , nº 1. p. 401-408
Mourad Kedadouche, Zhaoheng Liu. 2017 « Fault feature extraction and classification based on WPT and SVD: Application to element bearings with artificially created faults under variable conditions ». Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 231 , nº 22. p. 4186-4196
Wenchao Li, Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Bruce Hazel. 2017 « Application of adaptable functional series vector time-dependent autoregressive model for extraction of real modal parameters for identification of time-varying systems ». Measurement: Journal of the International Measurement Confederation vol. 103. p. 143-156
Essa Abrahim Abdulgader Saleem, Thien-My Dao, Liu Zhaoheng. 2017 « Multi-objective optimization of multi-state reliability system using hybrid metaheuristic genetic algorithm and fuzzy function for redundancy allocation ». American Journal of Engineering Research vol. 6 , nº 10. p. 98-107
Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Bruce Hazel. 2017 « Modal analysis of a light-weight robot with a rotating tool installed at the end effector ». Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 231 , nº 9. p. 1664-1676
Wei Wang, Fei Liu, Zhaoheng Liu, Chao Yun. 2017 « Prediction of depth of cut for robotic belt grinding ». International Journal of Advanced Manufacturing Technology vol. 91 , nº 1. p. 669-708
Mourad Kedadouche, Zhaoheng Liu, Viet-Hung Vu. 2016 « A new approach based on OMA-empirical wavelet transforms for bearing fault diagnosis ». Measurement: Journal of the International Measurement Confederation vol. 90. p. 292-308
Zhaoheng Liu, Kun Hu, Kwok-Wai Chung. 2016 « Nonlinear analysis of a closed-loop tractor-semitrailer vehicle system with time delay ». Mechanical Systems and Signal Processing vol. 76-77. p. 696-711
Amir Masoud Tahvilian, Bruce Hazel, Farzad Rafieian, Zhaoheng Liu, Henri Champliaud. 2016 « Force model for impact cutting grinding with a flexible robotic tool holder ». International Journal of Advanced Manufacturing Technology vol. 85 , nº 1. p. 133-147
Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Wenchao Li, Bruce Hazel. 2016 « Output-only identification of modal shape coupling in a flexible robot by vector autoregressive modeling ». Mechanism and Machine Theory vol. 97. p. 141-154
Amir Masoud Tahvilian, Zhaoheng Liu, Henri Champliaud, Bruce Hazel, Marin Lagacé. 2015 « Characterization of grinding wheel grain topography under different robotic grinding conditions using confocal microscope ». International Journal of Advanced Manufacturing Technology vol. 80 , nº 5. p. 1159-1171
Joel Lessard, Pascal Bigras, Zhaoheng Liu, Bruce Hazel. 2014 « Characterization, modeling and vibration control of a flexible joint for a robotic system ». Journal of Vibration and Control vol. 20 , nº 6. p. 943-960
Farzad Rafieian, François Girardin, Zhaoheng Liu, Marc Thomas, Bruce Hazel. 2014 « Angular analysis of the cyclic impacting oscillations in a robotic grinding process ». Mechanical Systems and Signal Processing vol. 44 , nº 1-2. p. 160-176
Farzad Rafieian, Bruce Hazel, Zhaoheng Liu. 2014 « Vibro-impact dynamics of material removal in a robotic grinding process ». International Journal of Advanced Manufacturing Technology vol. 73 , nº 5-8. p. 949-972
Amir Masoud Tahvilian, Zhaoheng Liu, Henri Champliaud, Bruce Hazel. 2013 « Experimental and finite element analysis of temperature and energy partition to the workpiece while grinding with a flexible robot ». Journal of Materials Processing Technology vol. 213 , nº 12. p. 2292-2303
Dominique Thuot, Zhaoheng Liu, Henri Champliaud, Julien Beaudry, Pierre-Luc Richard, Michel Blain. 2013 « Remote robotic underwater grinding system and modeling for rectification of hydroelectric structures ». Robotics and Computer-Integrated Manufacturing vol. 29 , nº 1. p. 86-95
Kwok-Wai Chung, Zhaoheng Liu. 2011 « Nonlinear analysis of chatter vibration in a cylindrical transverse grinding process with two time delays using a nonlinear time transformation method ». Nonlinear Dynamics vol. 66 , nº 4. p. 441-456
François-Étienne Rhéaume, Henri Champliaud, Zhaoheng Liu. 2009 « Understanding and modelling the torsional stiffness of harmonic drives through finite-element method ». Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 223 , nº 2. p. 515-524
Louis Lacasse, Antoine Tahan, Zhaoheng Liu. 2008 « Robust method for the automatic characterization of a wooden board's geometrical state ». Quality Engineering vol. 20 , nº 2. p. 221-231
Steven Roy, Zhaoheng Liu. 2008 « Road vehicle suspension and performance evaluation using a two-dimensional vehicle model ». International Journal of Vehicle Systems Modelling and Testing vol. 3 , nº 1-2. p. 68-93
Jun Zeng, Zhaoheng Liu, Henri Champliaud. 2008 « FEM dynamic simulation and analysis of the roll-bending process for forming a conical tube ». Journal of Materials Processing Technology vol. 198 , nº 1-3. p. 330-343
Zhaoheng Liu. 2007 « Characterisation of optimal human driver model and stability of a tractor-semitrailer vehicle system with time delay ». Mechanical Systems and Signal Processing vol. 21 , nº 5. p. 2080-2098
Zhaoheng Liu, Guy Payre. 2007 « Global bifurcation analysis of a nonlinear road vehicle system ». Journal of Computational and Nonlinear Dynamics vol. 2 , nº 4. p. 308-315
Zhaoheng Liu, Guy Payre. 2007 « Stability analysis of doubly regenerative cylindrical grinding process ». Journal of Sound and Vibration vol. 301 , nº 3-5. p. 950-962
Jian-Hua Zhao, Zhaoheng Liu, My-Thien Dao. 2007 « Reliability optimization using multiobjective ant colony system approaches ». Reliability Engineering and System Safety vol. 92 , nº 1. p. 109-120
Khoder Melhem, Zhaoheng Liu, Antonio Loria. 2005 « A unified framework for dynamics and lyapunov stability of holonomically constrained rigid bodies ». Journal of Advanced Computational Intelligence and Intelligent Informatics vol. 9 , nº 4. p. 387-394
Zhaoheng Liu, Guy Payre, Paul Bourassa. 2004 « Stability and oscillations in a time-delayed vehicle system with driver control ». Nonlinear Dynamics vol. 35 , nº 2. p. 159-173
G. Payre, P. Bourassa, M. Khan, Z. Liu. 1997 « Driver/vehicle systems: From linear stability to chaotic oscillations ». Heavy Vehicle Systems vol. 4 , nº 2-4. p. 125-144
Z. Liu, G. Payre, P. Bourassa. 1996 « Nonlinear oscillations and chaotic motions in a road vehicle system with driver steering control ». Nonlinear Dynamics vol. 9 , nº 3. p. 281-304
Zhaoheng Liu, William M. Mansour, Paul Bourassa. 1994 « Nonlinear lateral and yaw dynamics and stability of snowmobiles ». Vehicle System Dynamics vol. 23 , nº 1. p. 525-544

Mourad Kedadouche, Zhaoheng Liu, Marc Thomas. 2018 « Bearing fault feature extraction using autoregressive coefficients, linear discriminant analysis and support vector machine under variable operating conditions ». In Advances in Condition Monitoring of Machinery in Non-Stationary Operations. p. 339-352. Springer
K. Melhem, Zhaoheng Liu. 2005 « A unified modeling and stabilization framework for interconnected rigid bodies ». In Intelligent systems at the service of mankind vol. 2. p. 141-160. Ubooks

Kanglin Xing, Ilian A. Bonev, Zhaoheng Liu, Henri Champliaud. 2023 « Ballbar applications for machining and non-machining setups in a hexapod-based machining cell ».
Yvan Soucy, Julien Joule, Zhaoheng Liu. 2019 « Investigation of force limited vibration through testing of payloads mounted on a rover and a satellite ». Communication lors de la conférence : Spacecraft and Launch Vehicle Dynamic Environments Workshop (SCLV) (El Segundo, CA, USA, June 4-6, 2019)
Zhaoheng Liu. 2016 « Research work on robotic grinding for in-situ repairs and maintenance of hydroelectric equipment ». Communication lors de la conférence : Department of Mechanical and Manufacturing Engineering, Aalborg University (Aalborg, Denmark, Aug. 12, 2016)

Viet Hung Vu, Zhaoheng Liu, Marc Thomas. 2024 « Flexible robot dynamics and vibration: From analytical modeling to operational modal analysis ». 10th International Conference on Automation, Robotics, and Applications (ICARA) (Athens , Greece, Feb. 22-24, 2024) Institute of Electrical and Electronics Engineers Inc.
Viet-Hung Vu, Zhaoheng Liu, Marc Thomas. 2024 « Vibration and modal analysis of a tonearm-cartridge system ». Proceedings of the 15th International Conference on Vibration Problems ICoVP 2023 (Doha, Qatar, Feb. 05-09, 2023) Springer Nature Singapore
Viet-Hung Vu, Marc Thomas, Zhaoheng Liu, Quoc Cuong Nguyen, Thanh-Trung Do. 2022 « Analytical and experimental modal analysis of a flexible robot ». Modern Practice in Stress and Vibration Analysis (MVSPA) (Oxford, UK, July 12-14, 2022)
Kanglin Xing, Xiaojie Liu, Zhaoheng Liu, J. R. R. Mayer, Sofiane Achiche. 2021 « Low-cost precision monitoring system of machine tools for SMEs ». 8th CIRP Global Web Conference – Flexible Mass Customisation (CIRPe 2020) (Leuven, Belgium, Oct. 14-16, 2020) Elsevier
T. T. Do, V.-H. Vu, Z. Liu. 2019 « Analytical modal analysis of flexible joint manipulators ». Proceedings of the 27th CANCAM (Sherbrooke, QC, Canada, May 27-30, 2019)
Mourad Kedadouche, Zhaoheng Liu, Marc Thomas. 2019 « Early bearing defect detection in a noisy environment based on a method combining singular value decomposition and empirical mode decomposition ». Book of Proceedings : SURVISHNO 2019 (Lyon, France, July 8-10, 2019) INSA
Mourad Kedadouche, Zhaoheng Liu, Marc Thomas. 2018 « Bearing fault feature extraction using autoregressive coefficients, linear discriminant analysis and support vector machine under variable operating conditions ». Advances in Condition Monitoring of Machinery in Non-Stationary Operations : Proceedings of the 5th International Conference on Condition Monitoring of Machinery in Non-stationary Operations, CMMNO’2016, 12–16 September 2016, Gliwice, Poland (Gliwice, Poland, Sept. 12-16, 2016) Springer
Mourad Kedadouche, Sun Yulan, Zhaoheng Liu, Marc Thomas, Guillaume Charland-Arcand, Adrien Beck. 2018 « Design of a vibration isolator for the inertial navigation system of an autopilot dedicated to the operation of light drones ». 2018 9th International Conference on Mechanical and Aerospace Engineering (ICMAE) (Budapest, Hungary, Jul. 10-13, 2018) IEEE
Zhaoheng Liu, Kwok-Wai Chung, Wei Wang. 2017 « A perturbed nonlinear model of an articulated vehicle with driver control ». 10th Chaotic Modeling and Simulation International Conference (Barcelona, Spain, May 30 - 02 June, 2017) International Society for the Advancement of Science and Technology
Viet Hung Vu, Zhaoheng Liu, Marc Thomas, Tahvilian Masoud Amir, Bruce Hazel. 2016 « Identification of frequency response functions of a flexible robot as tool-holder for robotic grinding process ». IECON 2016 : 42nd Annual Conference of IEEE Industrial Electronics Society (Florence, Italy, Oct. 24-27, 2016) IEEE
Stéphane Agnard, Zhaoheng Liu, Bruce Hazel. 2015 « Material removal and wheel wear models for robotic grinding wheel profiling ». 2nd Int. Materials, Industrial, and Manufacturing Engineering Conference, MIMEC2015 (Bali, Indonesia, Feb. 4-6, 2015)
Wenchao Li, Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Bruce Hazel. 2015 « Automatic structural mode extraction for time-varying structures via vector time-dependent autoregressive model ». International Conference Surveillance 8 (Roanne, France, Oct. 20-21, 2015)
Thomas Santos, Zhaoheng Liu, Bruce Hazel. 2015 « Study and validation testing of the dynamics of a robotic system with flexible links and joints ». 2015 IEEE International Conference on Mechatronics and Automation (ICMA) (Beijing, China, Aug. 2-5, 2015) IEEE
Viet Hung Vu, Zhaoheng Liu, Marc Thomas, Amir Masoud Tahvilian, Bruce Hazel. 2015 « Dynamic forces identification and modeling of a robotic grinding process ». Surveillance 8 - International Conference (Roanne, France, Oct. 20-12, 2015)
Viet-Hung Vu, Marc Thomas, Zhaoheng Liu, Bruce Hazel. 2015 « Spectrum construction for non statiotionary vibration: application for a working robot ». 4th Colloque Experimental Vibration Analysis, AVE 2014, November 18, 2014 - November 20, 2014 (Blois, France, Nov. 18-20, 2014) EDP Sciences
Z. Li, V. -H. Vu, Z. Liu, M. Thomas, B. Hazel. 2014 « Basis function selection criterion for modal monitoring of non stationary systems ». 32nd CMVA (Canadian Machinery Vibration Association) Annual Seminar and the 4th Int. Congress on Engineering of Industrial Risks (Montreal, QC, Canada, Oct. 29-31, 2014)
Farzad Rafieian, Bruce Hazel, Zhaoheng Liu. 2014 « Regenerative instability of impact-cutting material removal in the grinding process performed by a flexible robot arm ». 6th CIRP International Conference on High Performance Cutting, HPC2014 Elsevier
Stéphane Agnard, Zhaoheng Liu, Bruce Hazel. 2013 « Modeling and experimental work on robotic grinding tool profiling through tool orientation control for repair of high curvature surfaces ». Materials Science and Technology Conference and Exhibition 2013, MS and T 2013 (Montreal, QC, Canada, Oct. 27-31, 2013) Association for Iron and Steel Technology
T. Santos, Zhaoheng Liu, B. Hazel. 2013 « Étude des propriétés vibratoires d'un système robotique en opération de meulage par modélisation multi-corps flexibles ». 21ème Congrès français de mécanique (Bordeaux, France, 26-30 août 2012) Association Française de Mécanique
A. M. Tahvilian, Henri Champliaud, Zhaoheng Liu, B. Hazel. 2013 « Study of workpiece temperature distribution in the contact zone during robotic grinding process using finite element analysis ». 8th CIRP Conference on Intelligent Computation in Manufacturing Engineering, ICME 2012 (Ischia, Italy, July 18-20, 2012) Elsevier
Amir Masoud Tahvilian, Henri Champliaud, Zhaoheng Liu, Bruce Hazel. 2013 « Influence of grit shape and cutting edge of material removal mechanism of a single abrasive in flexible robotic grinding ». ASME 2013 International Mechanical Engineering Congress and Exposition : November 15-21, 2013, San Diego, California, USA (San Diego, CA, USA, Nov. 15-21, 2013 ) ASME
M. Tahvilian, Henri Champliaud, Zhaoheng Liu, B. Hazel. 2013 « Chop formation analysis of single grit cutting action in robotic grinding processes ». 52nd Annual Conference of Metallurgists (COM 2013) (Montreal, QC, Canada, Oct. 27-31, 2013) CIM The Candian Institute of Mining
Benoit Lacroix, Zhaoheng Liu, Patrice Seers. 2012 « A comparison of two control methods for vehicle stability control by direct yaw moment ». 2011 International Conference on Applied Mechanics, Materials and Manufacturing, ICAMMM (Shenzen, China, Nov. 18-20, 2011) Trans Tech Publications
J. Lessard, Pascal Bigras, Zhaoheng Liu, B. Hazel. 2012 « Vibration control and experimental investigation of a robotic system with flexible joints ». Proceedings of the 6th Asian Conference on Multibody Dynamics (Shanghai, China, Aug. 26-30, 2012) The Chinese society of theoretical and applied mechanics
François Girardin, Farzad Rafieian, Zhaoheng Liu, Marc Thomas, Bruce Hazel. 2011 « Using angular speed measurement with hall effect sensors to observe grinding operation with flexible robot ». International Conference Surveillance 6 (Compiègne, France, Oct. 25-26, 2011)
Bruce Hazel, Farzad Rafieian, Zhaoheng Liu. 2011 « Impact-cutting and regenerative chatter in robotic grinding ». ASME International Mechanical Engineering Congress & Exposition (Denver, CO, USA, Nov. 11-17, 2011) ASME
J. Lessard, G. Swiatek, Zhaoheng Liu, B. Hazel. 2011 « Flexible multibody dynamics and effects of nonlinear joint stiffness for vibration analysis in a robotic grinding process ». Multibody Dynamics : ECCOMAS Thematic Conference (Bruxelles, Belgique, July 4-7, 2011)
F. Mokdad, V. H. Vu, Marc Thomas, F. Rafieian, Zhaoheng Liu, B. Hazel. 2011 « Online modal analysis of a flexible robot during grinding ». 4th International operational modal analysis conference (IOMAC) (Istanbul, Turkey, May 9-11, 2011)
Jianhua Chen, Zhaoheng Liu. 2010 « Modeling and parameter identification of a tractor semitrailer/driver closed-loop system using the Simulated Annealing (SA) optimization approach ». IEEE International Conference on Information and Automation (ICIA) (Harbin, Heilongjiang, China, June 20-23, 2010) Institute of Electrical and Electronics Engineers Computer Society
Grzegorz Swiatek, Zhaoheng Liu, Bruce Hazel. 2010 « Dynamic simulation and configuration dependant modal identification of a portable flexible-link and flexible-joint robot ». Proceedings of the 28th Seminar on Machinery Vibration (Québec, Québec, Canada, Oct. 27-29, 2010) Canadian Machinery Vibration Association (CMVA)
F. Rafieian, Zhaoheng Liu, Bruce Hazel. 2009 « Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator ». International Conference on Mechatronics and Automation (ICMA) (Changchun, China, Aug. 9-12, 2009) Institute of Electrical and Electronics Engineers
L. Lacasse, Antoine Tahan, Zhaoheng Liu. 2007 « Automatic characterization of wood board surface defects ». 5th International Conference on Industrial Automation = Cinquième Conférence Internationale sur l'Automatisation Industrielle (Montreal, Canada, June 11-13, 2007) École de technologie supérieure
Zhaoheng Liu, Marc Thomas, Jean-Luc Fihey, Jinliang Li. 2007 « Dynamic analysis of manipulators with flexible joints and flexible links ». 5th International Conference on Industrial Automation = Cinquième Conférence Internationale sur l'Automatisation Industrielle (Montréal, Canada, June 11-13, 2007) École de technologie supérieure
Antoine Tahan, Zhaoheng Liu, L. Lacasse. 2007 « New method for characterization of wood ». 5th International Conference on Industrial Automation = Cinquième Conférence Internationale sur l'Automatisation Industrielle (Montreal, Canada, June 11-13, 2007) École de technologie supérieure
Benoît Lacroix, Patrice Seers, Zhaoheng Liu. 2006 « A passive nonlinear damping design for a road race car application ». Non-Conference Specific Technical Papers - 2006 (Warrendale, PA, USA, Dec., 2006) SAE International
Benoît Lacroix, Patrice Seers, Zhaoheng Liu. 2006 « Race car suspension design with a nonlinear damping ». Compte rendu 24ième séminaire sur la vibration des machines : ACVM, 25-27 octobre 2006 (Montreal, QC, Canada, Oct. 25-27, 2006) CMVA
Zhaoheng Liu, G. Payre. 2006 « Chatter onset prediction of doubly regenerative cylindrical grinding process ». Proceedings of the Second International Conference on Dynamics, Vibration and Control (Beijing, China, Aug. 23-26, 2006)
F.-É Rhéaume, Henri Champliaud, Zhaoheng Liu. 2006 « Simulating strain wave gearing torsional stiffness using the finite element method ». ANSYS Conference and Exhibition (Pittsburgh, PA, USA, May 2-4, 2006)
Steven Roy, Zhaoheng Liu. 2006 « Modeling and simulation of a parametric vehicle for suspension and performance analysis ». Compte rendu 24ième séminaire sur la vibration des machines : ACVM, 25-27 octobre 2006 (Montreal, QC, Canada, Oct. 23-26, 2006) ACVM
Jian Hua Zhao, Zhaoheng Liu, My-Thien Dao. 2005 « Solving reliability optimal design problem using ant colony system (ACS) approaches ». Proceedings of the 15th International CIRP Design Seminar (Shanghai, China, May 22-25, 2005)
Jian-Hua Zhao, Thien-My Dao, Zhaoheng Liu. 2005 « Optimization of mechanical systems reliability using ant colony based simulation approach ». Proceedings of the IASTED International Conference on Modelling and Simulation (Cancun, Mexico, May 18-20, 2005) ACTA Press
Khoder Melhem, Zhaoheng Liu, Antonio Loria. 2004 « A unified framework for dynamics and Lyapunov stability of holonomically constrained rigid bodies ». 2nd IEEE International Conference on Computational Cybernetics (Vienna, Austria, Aug. 30-Sept. 1, 2004) Institute of Electrical and Electronics Engineers
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