Lilong CAI
蔡李隆
PhD in Robotics
University of Toronto, 1990

Professor
Department of Mechanical and Aerospace Engineering

Associate Director of Materials, Design and Manufacturing Facility



(852) 2358 7209
melcai@ust.hk
Room 2545
Personal Web

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ORCID
0000-0002-8034-9645

Scopus ID
7401563719




Research Interest Publications Projects Teaching Assignment RPG Supervision Space used




Research Interest

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Mechatronics
Instrumentation and measurement
Control and robotic systems
Control of nonlinear systems



Publications

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All Years 154 2022 0 2021 2 2020 6 2019 2 2018 1 2017 4 2016 139

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2021 2

Curved Path Following for Unmanned Surface Vehicles With Heading Amendment
IEEE Transactions on Systems, Man, and Cybernetics: Systems, v. 51, (7), July 2021, article number 8802271, p. 4183-4192
Qu, Yang; Cai, Lilong; Xu, Haixiang Article
Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances
IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, 30 May - 4 Jun 2021
Qu, Yang; Cai, Lilong Conference paper

2020 6

3d Reconstruction of Specular Surface by Combined Binocular Vision and Zonal Wavefront Reconstruction
Applied Optics, v. 59, (28), September 2020, p. 8526-8539
Leung, Yuk Ching; Cai, Lilong Article
Accurate three-dimensional measurement for small objects based on the thin-lens model
Applied Optics, v. 59, (22), 1 August 2020, p. 6600-6611
Lu, Zhangji; Cai, Lilong Article
Active Braking Control of Electric Vehicles to Achieve Maximal Friction Based on Fast Extremum-Seeking and Reachability
IEEE Transactions on Vehicular Technology, v. 69, (12), December 2020, article number 9286533, p. 14869-14883
Xu, Qingshi; Cai, Lilong Article
Calibration Method for the Electrically Tunable Lens Based on Shape-changing Polymer
Optics Express, v. 28, (21), 12 October 2020, p. 31140-31162
Lu, Zhangji; Cai, Lilong Article
Camera Calibration Method With Focus-Related Intrinsic Parameters Based on the Thin-Lens Model
Optics Express, v. 28, (14), July 2020, p. 20858-20878
Lu, Zhangji; Cai, Lilong Article
Realization of Reachability for the Control of a Class of Nonlinear Systems
IEEE Transactions on Automatic Control, v. 65, (3), March 2020, article number 8707059, p. 1073-1088
Chai, Yuting; Cai, Lilong Article

2019 2

Inclusion extraction from diamond clarity images based on the analysis of diamond optical properties
Optics Express, v. 27, (19), September 2019, article number 27242
Wang, Wenjing; Cai, Lilong Article
Paraxial focal length measurement method with a simple apparatus
Optics Express, v. 27, (3), February 2019, p. 2044-2055
Lu, Zhangji; Cai, Lilong Article

2018 1

On the Development of an Effective Image Acquisition System or Diamond Quality Grading
Applied Optics, v. 57, (33), November 2018, p. 9887-9897
Wang, Wenjing; Cai, Lilong Article

2017 4

Aircraft Navigation Based on Differentiation–Integration Observer
Aerospace Science and Technology, v. 68, September 2017, p. 109-122
Wang, Xinhua; Cai, Lilong Article
Navigation and Control Based on Integral-uncertainty Observer for Unmanned Jet Aircraft
IEEE Transactions on Aerospace and Electronic Systems, v. 53, (3), June 2017, p. 1230-1249
Wang, Xinhua; Cai, Lilong Article
Online Measuring the Electrical Resistivity of Molten Nugget of Stainless Steel in Resistance Spot Welding
Journal of Manufacturing Processes, v. 28, August 2017, p. 109-115
Zhou, Kang; Shi, Tuo; Cai, Lilong Article
On-Line Estimation of Inertia-Related Parameter without an Accelerometer
2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings, February 2017, article number 7844715, p. 3125-3129
Chai, Yuting; Cai, Lilong Conference paper

2016 3

Alternative Design for Optical Incremental Encoder Measurement Systems
Proceedings of the IEEE International Conference on Industrial Technology, v. 2016-May, May 2016, article number 7474823, p. 634-639
Waheed, Abdul; Cai, Lilong Conference paper
Controller Design for Robot Manipulators Based on Reachability
Proceedings of the American Control Conference, v. 2016-July, July 2016, article number 7525235, p. 2142-2147
Chai, Yuting; Cai, Lilong Conference paper
Soft Damper for Quick Stabilization of Soft Robotic Actuator
2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016, December 2016, article number 7784074, p. 466-471
Ni, Feng; Henning, Andreas; Tang, Kai; Cai, Lilong Conference paper

2015 4

An algorithm for calculating the RMS value of the non-sinusoidal current used in AC resistance spot welding
Journal of Power Electronics, v. 15, (4), July 2015, p. 1139-1147
Zhou, Kang; Cai, Lilong Article
Constant Current vs Constant Power Control in AC Resistance Spot Welding
Journal of Materials Processing Technology, v. 223, September 2015, p. 299-304
Zhou, Kang; Yao, Ping; Cai, Lilong Article
Mathematical modeling and control of a tilt-rotor aircraft
Aerospace Science and Technology, v. 47, December 2015, p. 473-492
Wang, Xinhua; Cai, Lilong Article
A jumping robot using soft pneumatic actuator
Proceedings - IEEE International Conference on Robotics and Automation, v. 2015-June, (June), July 2015, article number 7139633, p. 3154-3159
Ni, Feng; Rojas, Daniel; Tang, Kai; Cai, Lilong; Asfour, Tamim Conference paper

2014 6

A nonlinear current control method for resistance spot welding
IEEE/ASME Transactions on Mechatronics, v. 19, (2), April 2014, article number 6482249, p. 559-569
Zhou, Kang; Cai, Lilong Article
On the development of nugget growth model for resistance spot welding
Journal of Applied Physics, v. 115, (16), April 2014, article number 164901
Zhou, Kang; Cai, Lilong Article
Online Measuring Power Factor in AC Resistance Spot Welding
IEEE Transactions on Industrial Electronics, v. 61, (1), January 2014, article number 6425467, p. 575-582
Zhou, Kang; Cai, Lilong Article
Study of safety operation of AC resistance spot welding system
IET Power Electronics, v. 7, (1), January 2014, p. 141-147
Zhou, Kang; Cai, Lilong Article
Study on effect of electrode force on resistance spot welding process
Journal of Applied Physics, v. 116, (8), August 2014, article number 084902
Zhou, Kang; Cai, Lilong Article
A method of automatic cut grading for round diamond
2014 IEEE International Conference on Mechatronics and Automation (ICMA 2014), IEEE, 2014, p. 734-739
Shen, Haihui; Chai, Yuting; Cai, Lilong Conference paper

2013 2

Online nugget diameter control system for resistance spot welding
The International Journal of Advanced Manufacturing Technology, v. 68, (9-12), October 2013, p. 2571-2588
Zhou, Kang; Cai, Lilong Article
Mathematical Description of AC Resistance Spot Welding Control Problem and Limits of its Controller Design
2013 American Control Conference (ACC 2013), IEEE, 2013, p. 3461-3466
Yue, Zuogong; Zhou, Kang; Cai, Lilong Conference paper

2012 2

An Algorithm to Estimate the Crown Patterns of Diamonds Based on Machine Vision
Machine Vision and Applications, v. 23, (2), March 2012, p. 197-215
Ren, Zhiguo; Liao, Jiarui; Cai, Lilong Article
On current control method for single-phase AC resistance spot welding
2012 19th IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2012), Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 857-860
Zhou, Kang; Cai, Lilong Conference paper

2011 1

Improvement in control system for the medium frequency direct current resistance spot welding system
Proceedings of the 2011 American Control Conference, IEEE, 2011, p. 2657-2662
Zhou, Kang; Cai, Lilong Conference paper

2010 2

A New Iterative Learning Controller Using Variable Structure Fourier Neural Network
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), v. 40, (2), April 2010, p. 458-468
Zuo, Wei; Cai, Lilong Article
Three-dimensional measurement of small mechanical parts under a complicated background based on stereo vision
Applied Optics, v. 49, (10), April 2010, p. 1789-1801
Ren, Zhiguo; Liao, Jiarui; Cai, Lilong Article

2009 6

Accurate dimensional measurement of 3D round holes based on stereo vision
World Academy of Science, Engineering and Technology, v. 36, Decemver 2009, p. 846-852
Ren, Zhiguo; Cai, Lilong Article
Fourier-Neural-Network-Based Learning Control for a Class of Nonlinear Systems With Flexible Components
IEEE transactions on neural networks, v. 20, (1), January 2009, p. 139-151
Zuo, Wei; Zhu, Yang; Cai, Lilong Article
Three-Dimensional Structure Measurement of Diamond Crowns Based on Stereo Vision
Applied optics, v. 48, (31), November 2009, p. 5917-5932
Ren, Zhiguo; Cai, Lilong Article
基于FPGA的速度滑动估算策略
电气传动=Electric Drive, v. 39, (3), 2009, p. 44-46+76
宋寶; 唐小琦; 蔣俊敏; 蔡李隆 Article
Accurate Dimensional Measurement of 3D Round Holes Based on Stereo Vision
International Conference on Machine Vision, Image Processing, and Pattern Analysis (MVIPPA 2009), Bankok, Thailand, 25 - 27 December 2009
Ren, Zhiguo; Cai, Lilong Conference paper
Diamond color grading based on machine vision
2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops 2009, 2009, article number 5457523, p. 1970-1976
Ren, Z.; Liao, J.; Cai, Lilong Conference paper

2008 5

Adaptive-Fourier-Neural-Network-Based Control for a Class of Uncertain Nonlinear Systems
IEEE transactions on neural networks, v. 19, (10), October 2008, p. 1689-1701
Zuo, Wei; Cai, Lilong Article
基于傅立叶变换的频域调节器在往复运动中的运用
电气传动=Electric Drive, v. 2008, (12), 2008, p. 39-41
宋寶; 唐小琦; 蔡李隆 Article
基于傅立叶变换的频域调节器在往复运动中的运用
制造技术与机床=Manufacturing Technology & Machine Tool, v. 9, 2008, p. 58-61
宋寶; 唐小琦; 蔡李隆 Article
带滤波前馈的变参数PID调节器在伺服驱动中的运用
仪表技术与传感器=Instrument Technique and Sensor, v. 12, 2008, p. 81-86
宋宝; 唐小琦; 蔡李隆 Article
A calibration method for uncoupling projector and camera of a structured light system
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2008, article number 4601757, p. 770-774
Liao, J.; Cai, Lilong Conference paper

2007 2

Current control for single phase ac resistance spot welding systems using fourier learning scheme
26th Iasted International Conference on Modelling, Identification, and Control, Innsbruck, Austria, 12-14 February 2007
Zhao, Xin; Cai, Lilong Conference paper
Trajectory Tracking Control Using Fourier Series Based Learning Controller with Phase Compensation
IASTED conference on Intelligent Systems and Control (ISC 2007), Cambridge, Massachusetts, USA, 19-21 November 2007
Zuo, Wei; Jiang, Junmin; Cai, Lilong Conference paper

2006 4

Application of Finite Element Analysis in the Simulation of Spot Welding Process
Engineering Journal of WuHan University, v. 39, 2006, p. 94-99
Mei, Weilong; Li, Vincent; Cai, Lilong Article
A novel approach for 3D discontinuity measurement by combining relative and absolute methods
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, article number 4141928, p. 567-571
Liao, J.; Cai, Lilong Conference paper
Application of Finite Element Analysis on the Simulation of Spot Welding Process
ANSYS-CHINA Conference 2006,Nov, 2006 Hainan, China
Mei, Weilong; Li, Vincent; Cai, Lilong Conference paper
Measurement of discontinuities on 3D objects using digital moiré
Proceedings of SPIE: The International Society for Optical Engineering, v. 6056, 2006, article number 605602
Liao, J.; Cai, Lilong Conference paper

2005 6

Variable amplitude Fourier series with its application in gearbox diagnosis - Part I: Principle and simulation
Mechanical systems and signal processing, v. 19, (5), 2005, SEP, p. 1055-1066
Yuan, XH; Cai, Lilong Article
Variable amplitude Fourier series with its application in gearbox diagnosis - Part II: Experiment and application
Mechanical systems and signal processing, v. 19, (5), 2005, SEP, p. 1067-1081
Yuan, XH; Cai, Lilong Article
High-security data encryption system with virtual optics and its implementation with parallel DSP
Proceedings of SPIE - The International Society for Optical Engineering, v. 5642, 2005, p. 116-123
Zhang, P.; Peng, X.; Cai, Lilong; Niu, H. Conference paper
Tracking control of a belt-driving system using improved Fourier series based learning controller
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, p. 2253-2258
Zhu, Y.; Zuo, W.; Cai, Lilong Conference paper
Tracking control of nonlinear systems using fourier neural network
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v. 1, 2005, p. 670-675
Zuo, W.; Cai, Lilong Conference paper
Virtual-optical information security system based on public key infrastructure
Proceedings of SPIE - The International Society for Optical Engineering, v. 5642, 2005, p. 52-60
Peng, X.; Zhang, P.; Cai, Lilong; Niu, H. Conference paper

2004 2

Information security system based on virtual-optics imaging methodology and public key infrastructure
Optik, v. 115, (9), 2004, p. 420-426
Peng, X.; Zhang, P.; Cai, Lilong Article
Numerical reconstruction of digital holography with changed viewing angles
Journal of electronic imaging, v. 13, (4), 2004, OCT, p. 814-818
Yu, LF; An, YF; Cai, LL Article

2003 9

Data encryption by disarranging the holographic information with rotated holograms
Optik, v. 114, (11), 2003, p. 497-503
Yu, LF; Cai, Lilong Article
Digital audio signal encryption with a virtual optics scheme
Optik, v. 114, (2), 2003, p. 69-75
Peng, X.; Cui, ZY; Cai, Lilong; Yu, LF Article
Digital watermarking in three-dimensional space with a virtual-optics imaging modality
Optics communications, v. 226, (1-6), 2003, OCT 15, p. 155-165
Peng, X.; Yu, LF; Cai, Lilong Article
Multidimensional data encryption with digital holography
Optics communications, v. 215, (4-6), 2003, JAN 15, p. 271-284
Yu, LF; Cai, Lilong Article
Amplitude modulated Fourier series
Proceedings of 2003 International Conference on Machine Learning and Cybernetics, v. 5 / IEEE. Piscataway, NJ : IEEE, 2003, p. 2869-2875
Chen, Qing Hu; Cai, Lilong Conference paper
Gearbox diagnosis using a modified Fourier series
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003, p. 193-198
Yuan, XH; Cai, LL Conference paper
Numerical reconstruction of 3D objects with different viewing angles
Proceedings of SPIE - The International Society for Optical Engineering, v. 5005, 2003, p. 224-230
Yu, L.; Cai, Lilong Conference paper
Segmentation of time-varying signals by using variable amplitude fourier series
Proceedings of SPIE - The International Society for Optical Engineering, v. 5286, (2), 2003, p. 770-775
Chen, Q.; Cai, Lilong Conference paper
Tracking control of a belt-driven position table using Fourier series based learning control scheme
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, 2003, p. 196-201
Yang, Z.; Cai, LL Conference paper

2002 8

Decentralized nonlinear adaptive control of an HVAC system
IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews, v. 32, (4), 2002, p. 493-498
Huaguang, Z.; Cai, Lilong Article
Double-lock for image encryption with virtual optical wavelength
Optics express, v. 10, (1), 2002, JAN 14, p. 41-45
Peng, Xiang; Yu, Lingfeng; Cai, Lilong Article
Fuzzy adaptive control of nonlinear processes with feed forward compensator and its application
Cybernetics and systems, v. 33, (2), 2002, Mar, p. 171-187
Zhang, HG; Li, M.; Cai, Lilong Article
Multivariable fuzzy generalized predictive control
Cybernetics and systems, v. 33, (1), 2002, JAN-FEB, p. 69-99
Huaguang, Z.; Cai, Lilong Article
Nonlinear adaptive control using the Fourier integral and its application to CSTR systems
IEEE TRANSACTIONS on SYSTEMS Man and Cybernetics PART b-cybernetics, v. 32, (3), 2002, JUN, p. 367-372
Zhang, HG; Cai, Lilong Article
Numerical reconstruction of digital holograms with variable viewing angles
Optics express, v. 10, (22), 2002, p. 1250-1257
Yu, Lingfeng; An, Yingfei; Cai, Lilong Article
Parameterized multi-dimensional data encryption by digital optics
Optics communications, v. 203, (1-2), 2002, MAR 1, p. 67-77
Yu, LF; Peng, X.; Cai, Lilong Article
Surface normal guided method for two-dimensional phase unwrapping
Optik, v. 113, (10), 2002, p. 439-447
Lo, CF; Peng, X.; Cai, Lilong Article

2001 4

Iterative algorithm with a constraint condition for numerical reconstruction of a three-dimensional object from its hologram
Journal OF The OPTICAL Society OF AMERICA a-optics IMAGE science and VISION, v. 18, (5), 2001, MAY, p. 1033-1045
Yu, LF; Cai, Lilong Article
Zero and direction reference mark based on phase jump
Optical Engineering, v. 40, (2), 2001, FEB, p. 289-294
Zhou, WD; Cai, Lilong Article
A Fourier series based iterative learning control for nonlinear uncertain systems
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v. 1, 2001, p. 482-487
Qin, W.; Cai, Lilong Conference paper
A frequency domain iterative learning control for low bandwidth system
Proceedings of the American Control Conference, v. 2, 2001, p. 1262-1267
Qin, W.; Cai, Lilong Conference paper

2000 6

A fuzzy basis function vector-based multivariable adaptive controller for nonlinear systems
IEEE TRANSACTIONS on SYSTEMS Man and Cybernetics PART b-cybernetics, v. 30, (1), 2000, FEB, p. 210-217
Zhang, HG; Cai, Lilong; Bien, Z. Article
A Learning Controller for Robot Manipulators Using Fourier Series
IEEE Transactions on Robotics and Automation, v. 16, (1), February 2000, p. 36-45
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing Article
A multivariable generalized predictive control approach based on T-S fuzzy model
Journal of intelligent & fuzzy systems, v. 9, (3-4), 2000, p. 169-189
Zhang, HG; Cai, LL; Bien, Z. Article
Edge Location by Use of Optical Phase Variation
Applied Optics, v. 39, (16), 2000, JUN 1, p. 2569-2576
Zhou, WD; Cai, Lilong Article
Fourier series based learning control and application to positioning table
Robotics and autonomous systems, v. 32, (2-3), 2000, AUG 31, p. 89-100
Cai, Lilong; Huang, W. Article
New hybrid controller for systems with deterministic uncertainties
Ieee-asme TRANSACTIONS on Mechatronics, v. 5, (4), 2000, DEC, p. 342-348
Huang, WQ; Cai, Lilong Article

1999 10

Improved Angle Interferometer Based on Total Internal Reflection
Applied Optics, v. 38, (7), 1999, MAR 1, p. 1179-1185
Zhou, WD; Cai, Lilong Article
Investigation on phase jump in a differential interferometer
Journal of applied physics, v. 85, (9), 1999, MAY 1, p. 6295-6302
Zhou, WD; Cai, Lilong Article
Method for edge detection based on phase jump in a differential interferometer
Applied optics, v. 38, (1), 1999, JAN 1, p. 152-159
Zhou, WD; Cai, Lilong Article
Optical readout for optical storage with phase jump
Applied optics, v. 38, (23), 1999, AUG 10, p. 5058-5065
Zhou, WD; Cai, Lilong Article
Robust friction compensation for precise and smooth position regulation
PROCEEDINGS OF The INSTITUTION OF Mechanical ENGINEERS PART i-journal OF SYSTEMS and control engineering, v. 213, (I2), 1999, p. 157-161
Song, G.; Cai, Lilong; Wang, Y. Article
基于傅里叶级数的非线性学习控制算法
華中理工大學學報, v. 1999, (02), 1999
唐小琦; 周濟; 蔡李隆 Article
Decentralized learning control for robot manipulators
PROC IEEE INT CONF ROB AUTOM, Vol. 2, pp. 843-848. 1999
Huang, Weiqing; Cai, Lilong; Tang, Xiaoqi Conference paper
Method for optical readout using phase jump
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, USA, 19-23 September 1999, p. 950-955
Cai, Lilong; Zhou, Weidong Conference paper
Positioning method for hard disk servowriter using an auto focus laser encoder
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, USA, 19-23 September 1999, p. 922-925
Cai, Lilong; Zhou, Weidong Conference paper
Wavelet analysis in a simple rotor's run-up process
INTEGRATING DYNAMICS, CONDITION MONITORING AND CONTROL FOR THE 21ST CENTURY - DYMAC 99, 1999, p. 175-179
Ji, GY; Cai, LL Conference paper

1998 12

A phase jump phenomenon in interferometry
Applied physics letters, v. 73, (23), 1998, DEC 7, p. 3339-3341
Zhou, WD; Cai, Lilong Article
A sliding-mode based smooth adaptive robust controller for friction compensation
International journal of robust and nonlinear control, v. 8, (8), 1998, JUL 15, p. 725-739
Song, GB; Cai, Lilong; Wang, YP; Longman, RW Article
An angular displacement interferometer based on total internal reflection
Measurement science & technology, v. 9, (10), 1998, OCT, p. 1647-1652
Zhou, WD; Cai, Lilong Article
Autofocus laser rotary encoder
Applied optics, v. 37, (13), 1998, MAY 1, p. 2691-2695
Zhang, JH; Cai, Lilong Article
Integrated adaptive-robust control of robot manipulators
Journal of robotic systems, v. 15, (12), 1998, DEC, p. 699-712
Song, G.; Longman, RW; Cai, Lilong Article
Interferometer for small-angle measurement based on total internal reflection
Applied optics, v. 37, (25), 1998, SEP 1, p. 5957-5963
Zhou, WD; Cai, Lilong Article
Interferometric straightness measurement system using triangular prisms
Optical Engineering, v. 37, (6), 1998, JUN, p. 1785-1789
Zhang, JH; Cai, Lilong Article
Robust position/force control of robot manipulators during constrained tasks
IEE proceedings-control THEORY and APPLICATIONS, v. 145, (4), 1998, JUL, p. 427-433
Song, G.; Cai, Lilong Article
机器人操作臂的解耦跟踪控制
華中理工大學學報, v. 1998, (12), 1998
唐小琦; 周濟; 蔡李隆 Article
A New Method on Repetitive Tracking Control of Electro-hydraulic Servo Systems
Proceedings of the American Control Conference, v. 5, 1998, p. 2685-2686
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing Conference paper
Acceleration Feedback of Tracking Control based on Real Time Fourier Series
Proceedings of the American Control Conference, v. 6, 1998, p. 3322-3326, article number 703189
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing Conference paper
Adaptive repetitive output feedback control for friction and backlash compensation of a positioning table
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes, 1998, p. 1250-1251
Huang, WQ; Cai, Lilong; Tang, XQ Conference paper

1997 7

An autofocusing measurement system with a piezoelectric translator
IEEE/ASME Transactions on Mechatronics, v. 2, (3), 1997, p. 213-216
Zhang, J.H.; Cai, Lilong Article
Profilometry using an optical stylus with interferometric readout
Measurement science & technology, v. 8, (5), 1997, MAY, p. 546-549
Zhang, JH; Cai, Lilong Article
A model-free decentralized control for robot manipulators
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 3106-3111
Cai, Lilong; Tang, XQ Conference paper
An auto-focusing measurement system with the piezoelectric translator
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 2801-2806
Zhang, JH; Cai, Lilong Conference paper
Integrated adaptive-robust control of robot manipulators with joint stick-slip friction
Proceedings of the 1997 IEEE International Conference on Control Applications, Hartford, CT, USA, 5-7 October 1997, p. 177-182
Cai, Lilong; Song, G.; Longman, R.W. Conference paper
On the improvement of tracking performance of flexible robot arm using FFT method
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 2541-2546
Cai, Lilong; Tang, XQ Conference paper
Profilometry using an optical stylus with interferometric readout
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 1997, p. 62
Zhang, JiHua; Cai, Lilong Conference paper

1996 7

A new approach to robust position/force control of flexible-joint robot manipulators
Journal of robotic systems, v. 13, (7), 1996, JUL, p. 429-444
Song, G.; Cai, Lilong Article
A compact optical vibration transducer with photo IC
JOINT CONFERENCE - 1996: IEEE INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE & IMEKO TECHNICAL COMMITTEE 7, CONFERENCE PROCEEDINGS, VOLS I AND II: QUALITY MEASUREMENTS: THE INDISPENSABLE BRIDGE BETWEEN THEORY AND REALITY (NO MEASUREMENTS? NO SCIENCE!), 1996, p. 513-517
Zhang, JH; Cai, Lilong Conference paper
A new control method for uncertain nonlinear systems tracking control
IEEE International Conference on Robotics & Automation (ICRA), 1996, p. 933-938
Cai, Lilong; Zhao, ZY Conference paper
Continuous electrodeposition onto a moving resistive cathode
Proceedings of the 1996 83rd AESF Annual Technical Conference, Cleveland, OH, USA, 10-13 June 1996, p. 1051-1055
Cai, Lilong; Chen, H.Y. Conference paper
Model-free controller design for positioning tables
Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2), Boston, MA, USA, 7-10 July 1996, p. 349-356
Cai, Lilong; Zhao, Zhenying Conference paper
On the improvement of tracking performance of positioning tables
Proceedings of the Annual Conference of the IEEE Industrial Electronics Society, 1996, p. 1990-1995
Zhao, ZY; Cai, Lilong Conference paper
Output feedback tracking control of electro-hydraulic servo systems
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes, 1996, p. 2713-2718
Zhao, ZY; Cai, Lilong Conference paper

1995 6

A sliding-mold based smooth adaptive robust controller for friction compensation
American Control Conference, Seattle, Washington, USA, June 21-23 1995, p. 3531-3535
Song, G.; Wang, Y.; Cai, Lilong; Longman, R.W. Conference paper
A smooth robust control approach to cooperation of multiple robot manipulators
1995 American Control Conference, Seattle, Washington, USA, June 21-23 1995, p. 1382-1386
Song, G.; Cai, Lilong Conference paper
Active vibration control of axially moving continua
Proceedings of SPIE - The International Society for Optical Engineering, v. 2620, 1995, p. 780-785
Cai, Lilong Conference paper
Control of single-link flexible arms with bounded unknown payload
Proceedings of SPIE - The International Society for Optical Engineering, v. 2620, 1995, p. 608-613
Cai, Lilong Conference paper
Control of single-link flexible arms with bounded unknown pay-load
1995 International Conference on Intelligent Manufacturing, Wuhan, China, June 14-17 1995, p. 608-613
Cai, Lilong Conference paper
Robust friction compensation for precise and smooth position regulation
Proceedings of the 4th IEEE Conference on Control Applications, Albany, NY, U.S.A., September 28-29 1995, p. 308-309
Song, G.; Cai, Lilong Conference paper

1994 9

Joint stick-slip friction compensation of robot manipulators by using smooth robust controllers
Journal of Robotic Systems, v. 11, (6), 1994, p. 451-470
Cai, Lilong; Song, G. Article
On the stability of the equilibrium states and small oscillations of nonholonomic systems
Dynamics and Stability of Systems, v. 9, (1), 1994, p. 3-17
Cai, Lilong Article
A new approach to control of robot manipulators during constraint tasks
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 103-107
Song, G.; Cai, Lilong; Abdalla, A.; Li, S. Conference paper
Interactive adaptive-robust tracking control of robot manipulators
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 5-9
Song, G.; Cai, Lilong; Abdalla, A. Conference paper
Robust position/force control of uncertain robots during contact tasks
Proceedings of 1994 American Control Conference, Baltimore, Maryland, v.1, 1994, p. 216-220
Cai, Lilong; Song, G. Conference paper
Smooth adaptive robust friction compensation
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 126-131
Song, G.; Wang, Y.; Cai, Lilong; Longman, R.W. Conference paper
Smooth robust control of cooperating robot manipulators handling a constrained object
Proceedings of 1994 IEEE International Conference on Systems, Man and Cybernetics, San Antonio, TX, USA, October 2-5 1994, p. 931-936
Song, G.; Cai, Lilong Conference paper
Stability analysis of robot manipulators subject to feedforward neural network controllers
Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3), San Antonio, TX, USA, 2-5 October 1994, p. 2588-2593
Abdalla, A.; Cai, Lilong Conference paper
Stick-slip friction compensation of uncertain robot manipulators using neural network controllers
Proceedings of IFAC Symposium on Robot Control '94, Capri, Italy, September 19-21 1994, p. 973-978
Song, G.; Abdalla, A.; Cai, Lilong Conference paper

1993 2

A smooth robust nonlinear controller for robot manipulators with joint's stick-slip friction
Proceedings of 93 IEEE International Conference on Robotics and Automation, Atlanta, GA, v. 1, May 1993, p. C449-C454
Cai, Lilong; Song, G. Conference paper
Smooth robust tracking controllers for uncertain robotic manipulators
Proceedings of 93 IEEE International Conference on Robotics and Automation, Atlanta, GA, v. 3, May 1993, p. 83-88
Cai, Lilong; Abdalla, A. Conference paper

1992 3

Design of a device for the mechanical energy output measurement of a human during motion
The Proceedings of 5th International Conference on Production Engineering, Design & Control, Alexandria, Egypt, December 1992, p. 583-592
Sun, S.Y.; Cai, Lilong; Heymsfield, B. Conference paper
On the design of three-axis force sensors
Proceedings of 5th International Conference on Production Engineering, Design & Control, Alexandria, Egypt, December 1992, p. 693-702
Wasfy, T.; Cai, Lilong; Sun, S.Y. Conference paper
On the dynamics of nonholonomic systems
The Proceedings of XVIIIth International Congress of Theoretical and Applied Mechanics, Haifa, Israel, August 1992
Cai, Lilong Conference paper

1991 1

Robust control of a multifingered hand performing coordinated and rolling manipulations
Proceedings of 1991 ASME Winter Annual Meeting, Atlanta, GA, USA, v. 33, 1991, p. 91-96
Cai, Lilong Conference paper

1990 3

An intelligent controller for robot contact and non-contact task control
Proceedings of the Fifth IEEE International Symposium on Intelligent Control, Philadelphia, PA, September 1990, p. 370-375
Cai, Lilong; Goldenberg, A.A.; Ananthanarayanan, S.P. Conference paper
Robust control of position and force for robot manipulators involving both free and constrained motion
The Proceedings of 29th IEEE Conference on Decisions and Control, Honolulu, HI, December 1990, p. 1943-1948
Cai, Lilong; Goldenberg, A.A. Conference paper
Robust control of position and force of robots during free and Compliant Motion
Proceedings of the Canadian Society of Mechanical Engineers Forum 1990, Toronto, v. 3, June 1990, p. 429-434
Cai, Lilong; Goldenberg, A.A. Conference paper

1989 4

A new approach of control position and force for a robot manipulator
Proceedings of the IEEE International Conference on Control and Applications, Israel, Jerusalem, April 1989, p. 740-746
Cai, Lilong; Goldenberg, A.A. Conference paper
Approach to force and position control of robot manipulators
Proceedings of the IEEE International Conference on Robotics and Automation, Phoenix, AZ, May 1989, p. 86-91
Cai, Lilong; Goldenberg, A.A. Conference paper
Position and force control approach to automatic demurring by a Robot Manipulator
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Boston, MA, 14-17 November 1989, p. 784-789
Cai, Lilong; Goldenberg, A.A. Conference paper
Robust control of position and force for a robot manipulator in non-contact and contact tasks
Proceedings of the American Control Conference, Pittsburgh, PA, June 1989, p. 1905-1911
Cai, Lilong; Goldenberg, A.A. Conference paper

1988 2

Robust control of robot using Cartesian space feedback
Proceedings of the 1988 IEEE International Conference on System, Man and Cybernetics, Beijing and Shenyang, China, August 1988, p. 250-255
Cai, Lilong; Goldenberg, A.A. Conference paper
Robust control of unconstrained maneuver and collision for a robot manipulator with bounded parameter uncertainty
Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, April 1988, p. 1010-1015
Cai, Lilong; Goldenberg, A.A. Conference paper

1985 1

Control of a multifingered hand for the identification of an object
Proceedings of the 1st IFAC Symposium on Robot Control, Barcelona, Spain, November 1985, p. 48-52
Cai, Lilong; Woods, B.; Goldenberg, A.A. Conference paper


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Article 1

Curved Path Following for Unmanned Surface Vehicles With Heading Amendment
IEEE Transactions on Systems, Man, and Cybernetics: Systems, v. 51, (7), July 2021, article number 8802271, p. 4183-4192
Qu, Yang; Cai, Lilong; Xu, Haixiang

Conference paper 1

Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances
IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, 30 May - 4 Jun 2021
Qu, Yang; Cai, Lilong


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Article 6

3d Reconstruction of Specular Surface by Combined Binocular Vision and Zonal Wavefront Reconstruction
Applied Optics, v. 59, (28), September 2020, p. 8526-8539
Leung, Yuk Ching; Cai, Lilong
Accurate three-dimensional measurement for small objects based on the thin-lens model
Applied Optics, v. 59, (22), 1 August 2020, p. 6600-6611
Lu, Zhangji; Cai, Lilong
Active Braking Control of Electric Vehicles to Achieve Maximal Friction Based on Fast Extremum-Seeking and Reachability
IEEE Transactions on Vehicular Technology, v. 69, (12), December 2020, article number 9286533, p. 14869-14883
Xu, Qingshi; Cai, Lilong
Calibration Method for the Electrically Tunable Lens Based on Shape-changing Polymer
Optics Express, v. 28, (21), 12 October 2020, p. 31140-31162
Lu, Zhangji; Cai, Lilong
Camera Calibration Method With Focus-Related Intrinsic Parameters Based on the Thin-Lens Model
Optics Express, v. 28, (14), July 2020, p. 20858-20878
Lu, Zhangji; Cai, Lilong
Realization of Reachability for the Control of a Class of Nonlinear Systems
IEEE Transactions on Automatic Control, v. 65, (3), March 2020, article number 8707059, p. 1073-1088
Chai, Yuting; Cai, Lilong


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Article 2

Inclusion extraction from diamond clarity images based on the analysis of diamond optical properties
Optics Express, v. 27, (19), September 2019, article number 27242
Wang, Wenjing; Cai, Lilong
Paraxial focal length measurement method with a simple apparatus
Optics Express, v. 27, (3), February 2019, p. 2044-2055
Lu, Zhangji; Cai, Lilong


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Article 1

On the Development of an Effective Image Acquisition System or Diamond Quality Grading
Applied Optics, v. 57, (33), November 2018, p. 9887-9897
Wang, Wenjing; Cai, Lilong


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Article 3

Aircraft Navigation Based on Differentiation–Integration Observer
Aerospace Science and Technology, v. 68, September 2017, p. 109-122
Wang, Xinhua; Cai, Lilong
Navigation and Control Based on Integral-uncertainty Observer for Unmanned Jet Aircraft
IEEE Transactions on Aerospace and Electronic Systems, v. 53, (3), June 2017, p. 1230-1249
Wang, Xinhua; Cai, Lilong
Online Measuring the Electrical Resistivity of Molten Nugget of Stainless Steel in Resistance Spot Welding
Journal of Manufacturing Processes, v. 28, August 2017, p. 109-115
Zhou, Kang; Shi, Tuo; Cai, Lilong

Conference paper 1

On-Line Estimation of Inertia-Related Parameter without an Accelerometer
2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings, February 2017, article number 7844715, p. 3125-3129
Chai, Yuting; Cai, Lilong


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Conference paper 3

Alternative Design for Optical Incremental Encoder Measurement Systems
Proceedings of the IEEE International Conference on Industrial Technology, v. 2016-May, May 2016, article number 7474823, p. 634-639
Waheed, Abdul; Cai, Lilong
Controller Design for Robot Manipulators Based on Reachability
Proceedings of the American Control Conference, v. 2016-July, July 2016, article number 7525235, p. 2142-2147
Chai, Yuting; Cai, Lilong
Soft Damper for Quick Stabilization of Soft Robotic Actuator
2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016, December 2016, article number 7784074, p. 466-471
Ni, Feng; Henning, Andreas; Tang, Kai; Cai, Lilong


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Article 3

An algorithm for calculating the RMS value of the non-sinusoidal current used in AC resistance spot welding
Journal of Power Electronics, v. 15, (4), July 2015, p. 1139-1147
Zhou, Kang; Cai, Lilong
Constant Current vs Constant Power Control in AC Resistance Spot Welding
Journal of Materials Processing Technology, v. 223, September 2015, p. 299-304
Zhou, Kang; Yao, Ping; Cai, Lilong
Mathematical modeling and control of a tilt-rotor aircraft
Aerospace Science and Technology, v. 47, December 2015, p. 473-492
Wang, Xinhua; Cai, Lilong

Conference paper 1

A jumping robot using soft pneumatic actuator
Proceedings - IEEE International Conference on Robotics and Automation, v. 2015-June, (June), July 2015, article number 7139633, p. 3154-3159
Ni, Feng; Rojas, Daniel; Tang, Kai; Cai, Lilong; Asfour, Tamim


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Article 5

A nonlinear current control method for resistance spot welding
IEEE/ASME Transactions on Mechatronics, v. 19, (2), April 2014, article number 6482249, p. 559-569
Zhou, Kang; Cai, Lilong
On the development of nugget growth model for resistance spot welding
Journal of Applied Physics, v. 115, (16), April 2014, article number 164901
Zhou, Kang; Cai, Lilong
Online Measuring Power Factor in AC Resistance Spot Welding
IEEE Transactions on Industrial Electronics, v. 61, (1), January 2014, article number 6425467, p. 575-582
Zhou, Kang; Cai, Lilong
Study of safety operation of AC resistance spot welding system
IET Power Electronics, v. 7, (1), January 2014, p. 141-147
Zhou, Kang; Cai, Lilong
Study on effect of electrode force on resistance spot welding process
Journal of Applied Physics, v. 116, (8), August 2014, article number 084902
Zhou, Kang; Cai, Lilong

Conference paper 1

A method of automatic cut grading for round diamond
2014 IEEE International Conference on Mechatronics and Automation (ICMA 2014), IEEE, 2014, p. 734-739
Shen, Haihui; Chai, Yuting; Cai, Lilong


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Article 1

Online nugget diameter control system for resistance spot welding
The International Journal of Advanced Manufacturing Technology, v. 68, (9-12), October 2013, p. 2571-2588
Zhou, Kang; Cai, Lilong

Conference paper 1

Mathematical Description of AC Resistance Spot Welding Control Problem and Limits of its Controller Design
2013 American Control Conference (ACC 2013), IEEE, 2013, p. 3461-3466
Yue, Zuogong; Zhou, Kang; Cai, Lilong


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Article 1

An Algorithm to Estimate the Crown Patterns of Diamonds Based on Machine Vision
Machine Vision and Applications, v. 23, (2), March 2012, p. 197-215
Ren, Zhiguo; Liao, Jiarui; Cai, Lilong

Conference paper 1

On current control method for single-phase AC resistance spot welding
2012 19th IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2012), Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 857-860
Zhou, Kang; Cai, Lilong


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Conference paper 1

Improvement in control system for the medium frequency direct current resistance spot welding system
Proceedings of the 2011 American Control Conference, IEEE, 2011, p. 2657-2662
Zhou, Kang; Cai, Lilong


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Article 2

A New Iterative Learning Controller Using Variable Structure Fourier Neural Network
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), v. 40, (2), April 2010, p. 458-468
Zuo, Wei; Cai, Lilong
Three-dimensional measurement of small mechanical parts under a complicated background based on stereo vision
Applied Optics, v. 49, (10), April 2010, p. 1789-1801
Ren, Zhiguo; Liao, Jiarui; Cai, Lilong


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Article 4

Accurate dimensional measurement of 3D round holes based on stereo vision
World Academy of Science, Engineering and Technology, v. 36, Decemver 2009, p. 846-852
Ren, Zhiguo; Cai, Lilong
Fourier-Neural-Network-Based Learning Control for a Class of Nonlinear Systems With Flexible Components
IEEE transactions on neural networks, v. 20, (1), January 2009, p. 139-151
Zuo, Wei; Zhu, Yang; Cai, Lilong
Three-Dimensional Structure Measurement of Diamond Crowns Based on Stereo Vision
Applied optics, v. 48, (31), November 2009, p. 5917-5932
Ren, Zhiguo; Cai, Lilong
基于FPGA的速度滑动估算策略
电气传动=Electric Drive, v. 39, (3), 2009, p. 44-46+76
宋寶; 唐小琦; 蔣俊敏; 蔡李隆

Conference paper 2

Accurate Dimensional Measurement of 3D Round Holes Based on Stereo Vision
International Conference on Machine Vision, Image Processing, and Pattern Analysis (MVIPPA 2009), Bankok, Thailand, 25 - 27 December 2009
Ren, Zhiguo; Cai, Lilong
Diamond color grading based on machine vision
2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops 2009, 2009, article number 5457523, p. 1970-1976
Ren, Z.; Liao, J.; Cai, Lilong


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Article 4

Adaptive-Fourier-Neural-Network-Based Control for a Class of Uncertain Nonlinear Systems
IEEE transactions on neural networks, v. 19, (10), October 2008, p. 1689-1701
Zuo, Wei; Cai, Lilong
基于傅立叶变换的频域调节器在往复运动中的运用
电气传动=Electric Drive, v. 2008, (12), 2008, p. 39-41
宋寶; 唐小琦; 蔡李隆
基于傅立叶变换的频域调节器在往复运动中的运用
制造技术与机床=Manufacturing Technology & Machine Tool, v. 9, 2008, p. 58-61
宋寶; 唐小琦; 蔡李隆
带滤波前馈的变参数PID调节器在伺服驱动中的运用
仪表技术与传感器=Instrument Technique and Sensor, v. 12, 2008, p. 81-86
宋宝; 唐小琦; 蔡李隆

Conference paper 1

A calibration method for uncoupling projector and camera of a structured light system
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2008, article number 4601757, p. 770-774
Liao, J.; Cai, Lilong


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Conference paper 2

Current control for single phase ac resistance spot welding systems using fourier learning scheme
26th Iasted International Conference on Modelling, Identification, and Control, Innsbruck, Austria, 12-14 February 2007
Zhao, Xin; Cai, Lilong
Trajectory Tracking Control Using Fourier Series Based Learning Controller with Phase Compensation
IASTED conference on Intelligent Systems and Control (ISC 2007), Cambridge, Massachusetts, USA, 19-21 November 2007
Zuo, Wei; Jiang, Junmin; Cai, Lilong


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Article 1

Application of Finite Element Analysis in the Simulation of Spot Welding Process
Engineering Journal of WuHan University, v. 39, 2006, p. 94-99
Mei, Weilong; Li, Vincent; Cai, Lilong

Conference paper 3

A novel approach for 3D discontinuity measurement by combining relative and absolute methods
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, article number 4141928, p. 567-571
Liao, J.; Cai, Lilong
Application of Finite Element Analysis on the Simulation of Spot Welding Process
ANSYS-CHINA Conference 2006,Nov, 2006 Hainan, China
Mei, Weilong; Li, Vincent; Cai, Lilong
Measurement of discontinuities on 3D objects using digital moiré
Proceedings of SPIE: The International Society for Optical Engineering, v. 6056, 2006, article number 605602
Liao, J.; Cai, Lilong


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Article 2

Variable amplitude Fourier series with its application in gearbox diagnosis - Part I: Principle and simulation
Mechanical systems and signal processing, v. 19, (5), 2005, SEP, p. 1055-1066
Yuan, XH; Cai, Lilong
Variable amplitude Fourier series with its application in gearbox diagnosis - Part II: Experiment and application
Mechanical systems and signal processing, v. 19, (5), 2005, SEP, p. 1067-1081
Yuan, XH; Cai, Lilong

Conference paper 4

High-security data encryption system with virtual optics and its implementation with parallel DSP
Proceedings of SPIE - The International Society for Optical Engineering, v. 5642, 2005, p. 116-123
Zhang, P.; Peng, X.; Cai, Lilong; Niu, H.
Tracking control of a belt-driving system using improved Fourier series based learning controller
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, p. 2253-2258
Zhu, Y.; Zuo, W.; Cai, Lilong
Tracking control of nonlinear systems using fourier neural network
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v. 1, 2005, p. 670-675
Zuo, W.; Cai, Lilong
Virtual-optical information security system based on public key infrastructure
Proceedings of SPIE - The International Society for Optical Engineering, v. 5642, 2005, p. 52-60
Peng, X.; Zhang, P.; Cai, Lilong; Niu, H.


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Article 2

Information security system based on virtual-optics imaging methodology and public key infrastructure
Optik, v. 115, (9), 2004, p. 420-426
Peng, X.; Zhang, P.; Cai, Lilong
Numerical reconstruction of digital holography with changed viewing angles
Journal of electronic imaging, v. 13, (4), 2004, OCT, p. 814-818
Yu, LF; An, YF; Cai, LL


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Article 4

Data encryption by disarranging the holographic information with rotated holograms
Optik, v. 114, (11), 2003, p. 497-503
Yu, LF; Cai, Lilong
Digital audio signal encryption with a virtual optics scheme
Optik, v. 114, (2), 2003, p. 69-75
Peng, X.; Cui, ZY; Cai, Lilong; Yu, LF
Digital watermarking in three-dimensional space with a virtual-optics imaging modality
Optics communications, v. 226, (1-6), 2003, OCT 15, p. 155-165
Peng, X.; Yu, LF; Cai, Lilong
Multidimensional data encryption with digital holography
Optics communications, v. 215, (4-6), 2003, JAN 15, p. 271-284
Yu, LF; Cai, Lilong

Conference paper 5

Amplitude modulated Fourier series
Proceedings of 2003 International Conference on Machine Learning and Cybernetics, v. 5 / IEEE. Piscataway, NJ : IEEE, 2003, p. 2869-2875
Chen, Qing Hu; Cai, Lilong
Gearbox diagnosis using a modified Fourier series
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003, p. 193-198
Yuan, XH; Cai, LL
Numerical reconstruction of 3D objects with different viewing angles
Proceedings of SPIE - The International Society for Optical Engineering, v. 5005, 2003, p. 224-230
Yu, L.; Cai, Lilong
Segmentation of time-varying signals by using variable amplitude fourier series
Proceedings of SPIE - The International Society for Optical Engineering, v. 5286, (2), 2003, p. 770-775
Chen, Q.; Cai, Lilong
Tracking control of a belt-driven position table using Fourier series based learning control scheme
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, 2003, p. 196-201
Yang, Z.; Cai, LL


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Article 8

Decentralized nonlinear adaptive control of an HVAC system
IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews, v. 32, (4), 2002, p. 493-498
Huaguang, Z.; Cai, Lilong
Double-lock for image encryption with virtual optical wavelength
Optics express, v. 10, (1), 2002, JAN 14, p. 41-45
Peng, Xiang; Yu, Lingfeng; Cai, Lilong
Fuzzy adaptive control of nonlinear processes with feed forward compensator and its application
Cybernetics and systems, v. 33, (2), 2002, Mar, p. 171-187
Zhang, HG; Li, M.; Cai, Lilong
Multivariable fuzzy generalized predictive control
Cybernetics and systems, v. 33, (1), 2002, JAN-FEB, p. 69-99
Huaguang, Z.; Cai, Lilong
Nonlinear adaptive control using the Fourier integral and its application to CSTR systems
IEEE TRANSACTIONS on SYSTEMS Man and Cybernetics PART b-cybernetics, v. 32, (3), 2002, JUN, p. 367-372
Zhang, HG; Cai, Lilong
Numerical reconstruction of digital holograms with variable viewing angles
Optics express, v. 10, (22), 2002, p. 1250-1257
Yu, Lingfeng; An, Yingfei; Cai, Lilong
Parameterized multi-dimensional data encryption by digital optics
Optics communications, v. 203, (1-2), 2002, MAR 1, p. 67-77
Yu, LF; Peng, X.; Cai, Lilong
Surface normal guided method for two-dimensional phase unwrapping
Optik, v. 113, (10), 2002, p. 439-447
Lo, CF; Peng, X.; Cai, Lilong


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Article 2

Iterative algorithm with a constraint condition for numerical reconstruction of a three-dimensional object from its hologram
Journal OF The OPTICAL Society OF AMERICA a-optics IMAGE science and VISION, v. 18, (5), 2001, MAY, p. 1033-1045
Yu, LF; Cai, Lilong
Zero and direction reference mark based on phase jump
Optical Engineering, v. 40, (2), 2001, FEB, p. 289-294
Zhou, WD; Cai, Lilong

Conference paper 2

A Fourier series based iterative learning control for nonlinear uncertain systems
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v. 1, 2001, p. 482-487
Qin, W.; Cai, Lilong
A frequency domain iterative learning control for low bandwidth system
Proceedings of the American Control Conference, v. 2, 2001, p. 1262-1267
Qin, W.; Cai, Lilong


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Article 6

A fuzzy basis function vector-based multivariable adaptive controller for nonlinear systems
IEEE TRANSACTIONS on SYSTEMS Man and Cybernetics PART b-cybernetics, v. 30, (1), 2000, FEB, p. 210-217
Zhang, HG; Cai, Lilong; Bien, Z.
A Learning Controller for Robot Manipulators Using Fourier Series
IEEE Transactions on Robotics and Automation, v. 16, (1), February 2000, p. 36-45
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing
A multivariable generalized predictive control approach based on T-S fuzzy model
Journal of intelligent & fuzzy systems, v. 9, (3-4), 2000, p. 169-189
Zhang, HG; Cai, LL; Bien, Z.
Edge Location by Use of Optical Phase Variation
Applied Optics, v. 39, (16), 2000, JUN 1, p. 2569-2576
Zhou, WD; Cai, Lilong
Fourier series based learning control and application to positioning table
Robotics and autonomous systems, v. 32, (2-3), 2000, AUG 31, p. 89-100
Cai, Lilong; Huang, W.
New hybrid controller for systems with deterministic uncertainties
Ieee-asme TRANSACTIONS on Mechatronics, v. 5, (4), 2000, DEC, p. 342-348
Huang, WQ; Cai, Lilong


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Article 6

Improved Angle Interferometer Based on Total Internal Reflection
Applied Optics, v. 38, (7), 1999, MAR 1, p. 1179-1185
Zhou, WD; Cai, Lilong
Investigation on phase jump in a differential interferometer
Journal of applied physics, v. 85, (9), 1999, MAY 1, p. 6295-6302
Zhou, WD; Cai, Lilong
Method for edge detection based on phase jump in a differential interferometer
Applied optics, v. 38, (1), 1999, JAN 1, p. 152-159
Zhou, WD; Cai, Lilong
Optical readout for optical storage with phase jump
Applied optics, v. 38, (23), 1999, AUG 10, p. 5058-5065
Zhou, WD; Cai, Lilong
Robust friction compensation for precise and smooth position regulation
PROCEEDINGS OF The INSTITUTION OF Mechanical ENGINEERS PART i-journal OF SYSTEMS and control engineering, v. 213, (I2), 1999, p. 157-161
Song, G.; Cai, Lilong; Wang, Y.
基于傅里叶级数的非线性学习控制算法
華中理工大學學報, v. 1999, (02), 1999
唐小琦; 周濟; 蔡李隆

Conference paper 4

Decentralized learning control for robot manipulators
PROC IEEE INT CONF ROB AUTOM, Vol. 2, pp. 843-848. 1999
Huang, Weiqing; Cai, Lilong; Tang, Xiaoqi
Method for optical readout using phase jump
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, USA, 19-23 September 1999, p. 950-955
Cai, Lilong; Zhou, Weidong
Positioning method for hard disk servowriter using an auto focus laser encoder
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, USA, 19-23 September 1999, p. 922-925
Cai, Lilong; Zhou, Weidong
Wavelet analysis in a simple rotor's run-up process
INTEGRATING DYNAMICS, CONDITION MONITORING AND CONTROL FOR THE 21ST CENTURY - DYMAC 99, 1999, p. 175-179
Ji, GY; Cai, LL


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Article 9

A phase jump phenomenon in interferometry
Applied physics letters, v. 73, (23), 1998, DEC 7, p. 3339-3341
Zhou, WD; Cai, Lilong
A sliding-mode based smooth adaptive robust controller for friction compensation
International journal of robust and nonlinear control, v. 8, (8), 1998, JUL 15, p. 725-739
Song, GB; Cai, Lilong; Wang, YP; Longman, RW
An angular displacement interferometer based on total internal reflection
Measurement science & technology, v. 9, (10), 1998, OCT, p. 1647-1652
Zhou, WD; Cai, Lilong
Autofocus laser rotary encoder
Applied optics, v. 37, (13), 1998, MAY 1, p. 2691-2695
Zhang, JH; Cai, Lilong
Integrated adaptive-robust control of robot manipulators
Journal of robotic systems, v. 15, (12), 1998, DEC, p. 699-712
Song, G.; Longman, RW; Cai, Lilong
Interferometer for small-angle measurement based on total internal reflection
Applied optics, v. 37, (25), 1998, SEP 1, p. 5957-5963
Zhou, WD; Cai, Lilong
Interferometric straightness measurement system using triangular prisms
Optical Engineering, v. 37, (6), 1998, JUN, p. 1785-1789
Zhang, JH; Cai, Lilong
Robust position/force control of robot manipulators during constrained tasks
IEE proceedings-control THEORY and APPLICATIONS, v. 145, (4), 1998, JUL, p. 427-433
Song, G.; Cai, Lilong
机器人操作臂的解耦跟踪控制
華中理工大學學報, v. 1998, (12), 1998
唐小琦; 周濟; 蔡李隆

Conference paper 3

A New Method on Repetitive Tracking Control of Electro-hydraulic Servo Systems
Proceedings of the American Control Conference, v. 5, 1998, p. 2685-2686
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing
Acceleration Feedback of Tracking Control based on Real Time Fourier Series
Proceedings of the American Control Conference, v. 6, 1998, p. 3322-3326, article number 703189
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing
Adaptive repetitive output feedback control for friction and backlash compensation of a positioning table
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes, 1998, p. 1250-1251
Huang, WQ; Cai, Lilong; Tang, XQ


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Article 2

An autofocusing measurement system with a piezoelectric translator
IEEE/ASME Transactions on Mechatronics, v. 2, (3), 1997, p. 213-216
Zhang, J.H.; Cai, Lilong
Profilometry using an optical stylus with interferometric readout
Measurement science & technology, v. 8, (5), 1997, MAY, p. 546-549
Zhang, JH; Cai, Lilong

Conference paper 5

A model-free decentralized control for robot manipulators
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 3106-3111
Cai, Lilong; Tang, XQ
An auto-focusing measurement system with the piezoelectric translator
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 2801-2806
Zhang, JH; Cai, Lilong
Integrated adaptive-robust control of robot manipulators with joint stick-slip friction
Proceedings of the 1997 IEEE International Conference on Control Applications, Hartford, CT, USA, 5-7 October 1997, p. 177-182
Cai, Lilong; Song, G.; Longman, R.W.
On the improvement of tracking performance of flexible robot arm using FFT method
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 2541-2546
Cai, Lilong; Tang, XQ
Profilometry using an optical stylus with interferometric readout
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 1997, p. 62
Zhang, JiHua; Cai, Lilong


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Article 1

A new approach to robust position/force control of flexible-joint robot manipulators
Journal of robotic systems, v. 13, (7), 1996, JUL, p. 429-444
Song, G.; Cai, Lilong

Conference paper 6

A compact optical vibration transducer with photo IC
JOINT CONFERENCE - 1996: IEEE INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE & IMEKO TECHNICAL COMMITTEE 7, CONFERENCE PROCEEDINGS, VOLS I AND II: QUALITY MEASUREMENTS: THE INDISPENSABLE BRIDGE BETWEEN THEORY AND REALITY (NO MEASUREMENTS? NO SCIENCE!), 1996, p. 513-517
Zhang, JH; Cai, Lilong
A new control method for uncertain nonlinear systems tracking control
IEEE International Conference on Robotics & Automation (ICRA), 1996, p. 933-938
Cai, Lilong; Zhao, ZY
Continuous electrodeposition onto a moving resistive cathode
Proceedings of the 1996 83rd AESF Annual Technical Conference, Cleveland, OH, USA, 10-13 June 1996, p. 1051-1055
Cai, Lilong; Chen, H.Y.
Model-free controller design for positioning tables
Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2), Boston, MA, USA, 7-10 July 1996, p. 349-356
Cai, Lilong; Zhao, Zhenying
On the improvement of tracking performance of positioning tables
Proceedings of the Annual Conference of the IEEE Industrial Electronics Society, 1996, p. 1990-1995
Zhao, ZY; Cai, Lilong
Output feedback tracking control of electro-hydraulic servo systems
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes, 1996, p. 2713-2718
Zhao, ZY; Cai, Lilong


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Conference paper 6

A sliding-mold based smooth adaptive robust controller for friction compensation
American Control Conference, Seattle, Washington, USA, June 21-23 1995, p. 3531-3535
Song, G.; Wang, Y.; Cai, Lilong; Longman, R.W.
A smooth robust control approach to cooperation of multiple robot manipulators
1995 American Control Conference, Seattle, Washington, USA, June 21-23 1995, p. 1382-1386
Song, G.; Cai, Lilong
Active vibration control of axially moving continua
Proceedings of SPIE - The International Society for Optical Engineering, v. 2620, 1995, p. 780-785
Cai, Lilong
Control of single-link flexible arms with bounded unknown payload
Proceedings of SPIE - The International Society for Optical Engineering, v. 2620, 1995, p. 608-613
Cai, Lilong
Control of single-link flexible arms with bounded unknown pay-load
1995 International Conference on Intelligent Manufacturing, Wuhan, China, June 14-17 1995, p. 608-613
Cai, Lilong
Robust friction compensation for precise and smooth position regulation
Proceedings of the 4th IEEE Conference on Control Applications, Albany, NY, U.S.A., September 28-29 1995, p. 308-309
Song, G.; Cai, Lilong


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Article 2

Joint stick-slip friction compensation of robot manipulators by using smooth robust controllers
Journal of Robotic Systems, v. 11, (6), 1994, p. 451-470
Cai, Lilong; Song, G.
On the stability of the equilibrium states and small oscillations of nonholonomic systems
Dynamics and Stability of Systems, v. 9, (1), 1994, p. 3-17
Cai, Lilong

Conference paper 7

A new approach to control of robot manipulators during constraint tasks
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 103-107
Song, G.; Cai, Lilong; Abdalla, A.; Li, S.
Interactive adaptive-robust tracking control of robot manipulators
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 5-9
Song, G.; Cai, Lilong; Abdalla, A.
Robust position/force control of uncertain robots during contact tasks
Proceedings of 1994 American Control Conference, Baltimore, Maryland, v.1, 1994, p. 216-220
Cai, Lilong; Song, G.
Smooth adaptive robust friction compensation
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 126-131
Song, G.; Wang, Y.; Cai, Lilong; Longman, R.W.
Smooth robust control of cooperating robot manipulators handling a constrained object
Proceedings of 1994 IEEE International Conference on Systems, Man and Cybernetics, San Antonio, TX, USA, October 2-5 1994, p. 931-936
Song, G.; Cai, Lilong
Stability analysis of robot manipulators subject to feedforward neural network controllers
Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3), San Antonio, TX, USA, 2-5 October 1994, p. 2588-2593
Abdalla, A.; Cai, Lilong
Stick-slip friction compensation of uncertain robot manipulators using neural network controllers
Proceedings of IFAC Symposium on Robot Control '94, Capri, Italy, September 19-21 1994, p. 973-978
Song, G.; Abdalla, A.; Cai, Lilong


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Conference paper 2

A smooth robust nonlinear controller for robot manipulators with joint's stick-slip friction
Proceedings of 93 IEEE International Conference on Robotics and Automation, Atlanta, GA, v. 1, May 1993, p. C449-C454
Cai, Lilong; Song, G.
Smooth robust tracking controllers for uncertain robotic manipulators
Proceedings of 93 IEEE International Conference on Robotics and Automation, Atlanta, GA, v. 3, May 1993, p. 83-88
Cai, Lilong; Abdalla, A.


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Conference paper 3

Design of a device for the mechanical energy output measurement of a human during motion
The Proceedings of 5th International Conference on Production Engineering, Design & Control, Alexandria, Egypt, December 1992, p. 583-592
Sun, S.Y.; Cai, Lilong; Heymsfield, B.
On the design of three-axis force sensors
Proceedings of 5th International Conference on Production Engineering, Design & Control, Alexandria, Egypt, December 1992, p. 693-702
Wasfy, T.; Cai, Lilong; Sun, S.Y.
On the dynamics of nonholonomic systems
The Proceedings of XVIIIth International Congress of Theoretical and Applied Mechanics, Haifa, Israel, August 1992
Cai, Lilong


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Conference paper 1

Robust control of a multifingered hand performing coordinated and rolling manipulations
Proceedings of 1991 ASME Winter Annual Meeting, Atlanta, GA, USA, v. 33, 1991, p. 91-96
Cai, Lilong


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Conference paper 3

An intelligent controller for robot contact and non-contact task control
Proceedings of the Fifth IEEE International Symposium on Intelligent Control, Philadelphia, PA, September 1990, p. 370-375
Cai, Lilong; Goldenberg, A.A.; Ananthanarayanan, S.P.
Robust control of position and force for robot manipulators involving both free and constrained motion
The Proceedings of 29th IEEE Conference on Decisions and Control, Honolulu, HI, December 1990, p. 1943-1948
Cai, Lilong; Goldenberg, A.A.
Robust control of position and force of robots during free and Compliant Motion
Proceedings of the Canadian Society of Mechanical Engineers Forum 1990, Toronto, v. 3, June 1990, p. 429-434
Cai, Lilong; Goldenberg, A.A.


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Conference paper 4

A new approach of control position and force for a robot manipulator
Proceedings of the IEEE International Conference on Control and Applications, Israel, Jerusalem, April 1989, p. 740-746
Cai, Lilong; Goldenberg, A.A.
Approach to force and position control of robot manipulators
Proceedings of the IEEE International Conference on Robotics and Automation, Phoenix, AZ, May 1989, p. 86-91
Cai, Lilong; Goldenberg, A.A.
Position and force control approach to automatic demurring by a Robot Manipulator
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Boston, MA, 14-17 November 1989, p. 784-789
Cai, Lilong; Goldenberg, A.A.
Robust control of position and force for a robot manipulator in non-contact and contact tasks
Proceedings of the American Control Conference, Pittsburgh, PA, June 1989, p. 1905-1911
Cai, Lilong; Goldenberg, A.A.


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Conference paper 2

Robust control of robot using Cartesian space feedback
Proceedings of the 1988 IEEE International Conference on System, Man and Cybernetics, Beijing and Shenyang, China, August 1988, p. 250-255
Cai, Lilong; Goldenberg, A.A.
Robust control of unconstrained maneuver and collision for a robot manipulator with bounded parameter uncertainty
Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, April 1988, p. 1010-1015
Cai, Lilong; Goldenberg, A.A.


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Conference paper 1

Control of a multifingered hand for the identification of an object
Proceedings of the 1st IFAC Symposium on Robot Control, Barcelona, Spain, November 1985, p. 48-52
Cai, Lilong; Woods, B.; Goldenberg, A.A.


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2016 3

Alternative Design for Optical Incremental Encoder Measurement Systems
Proceedings of the IEEE International Conference on Industrial Technology, v. 2016-May, May 2016, article number 7474823, p. 634-639
Waheed, Abdul; Cai, Lilong Conference paper
Controller Design for Robot Manipulators Based on Reachability
Proceedings of the American Control Conference, v. 2016-July, July 2016, article number 7525235, p. 2142-2147
Chai, Yuting; Cai, Lilong Conference paper
Soft Damper for Quick Stabilization of Soft Robotic Actuator
2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016, December 2016, article number 7784074, p. 466-471
Ni, Feng; Henning, Andreas; Tang, Kai; Cai, Lilong Conference paper

2015 4

An algorithm for calculating the RMS value of the non-sinusoidal current used in AC resistance spot welding
Journal of Power Electronics, v. 15, (4), July 2015, p. 1139-1147
Zhou, Kang; Cai, Lilong Article
Constant Current vs Constant Power Control in AC Resistance Spot Welding
Journal of Materials Processing Technology, v. 223, September 2015, p. 299-304
Zhou, Kang; Yao, Ping; Cai, Lilong Article
Mathematical modeling and control of a tilt-rotor aircraft
Aerospace Science and Technology, v. 47, December 2015, p. 473-492
Wang, Xinhua; Cai, Lilong Article
A jumping robot using soft pneumatic actuator
Proceedings - IEEE International Conference on Robotics and Automation, v. 2015-June, (June), July 2015, article number 7139633, p. 3154-3159
Ni, Feng; Rojas, Daniel; Tang, Kai; Cai, Lilong; Asfour, Tamim Conference paper

2014 6

A nonlinear current control method for resistance spot welding
IEEE/ASME Transactions on Mechatronics, v. 19, (2), April 2014, article number 6482249, p. 559-569
Zhou, Kang; Cai, Lilong Article
On the development of nugget growth model for resistance spot welding
Journal of Applied Physics, v. 115, (16), April 2014, article number 164901
Zhou, Kang; Cai, Lilong Article
Online Measuring Power Factor in AC Resistance Spot Welding
IEEE Transactions on Industrial Electronics, v. 61, (1), January 2014, article number 6425467, p. 575-582
Zhou, Kang; Cai, Lilong Article
Study of safety operation of AC resistance spot welding system
IET Power Electronics, v. 7, (1), January 2014, p. 141-147
Zhou, Kang; Cai, Lilong Article
Study on effect of electrode force on resistance spot welding process
Journal of Applied Physics, v. 116, (8), August 2014, article number 084902
Zhou, Kang; Cai, Lilong Article
A method of automatic cut grading for round diamond
2014 IEEE International Conference on Mechatronics and Automation (ICMA 2014), IEEE, 2014, p. 734-739
Shen, Haihui; Chai, Yuting; Cai, Lilong Conference paper

2013 2

Online nugget diameter control system for resistance spot welding
The International Journal of Advanced Manufacturing Technology, v. 68, (9-12), October 2013, p. 2571-2588
Zhou, Kang; Cai, Lilong Article
Mathematical Description of AC Resistance Spot Welding Control Problem and Limits of its Controller Design
2013 American Control Conference (ACC 2013), IEEE, 2013, p. 3461-3466
Yue, Zuogong; Zhou, Kang; Cai, Lilong Conference paper

2012 2

An Algorithm to Estimate the Crown Patterns of Diamonds Based on Machine Vision
Machine Vision and Applications, v. 23, (2), March 2012, p. 197-215
Ren, Zhiguo; Liao, Jiarui; Cai, Lilong Article
On current control method for single-phase AC resistance spot welding
2012 19th IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2012), Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 857-860
Zhou, Kang; Cai, Lilong Conference paper

2011 1

Improvement in control system for the medium frequency direct current resistance spot welding system
Proceedings of the 2011 American Control Conference, IEEE, 2011, p. 2657-2662
Zhou, Kang; Cai, Lilong Conference paper

2010 2

A New Iterative Learning Controller Using Variable Structure Fourier Neural Network
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), v. 40, (2), April 2010, p. 458-468
Zuo, Wei; Cai, Lilong Article
Three-dimensional measurement of small mechanical parts under a complicated background based on stereo vision
Applied Optics, v. 49, (10), April 2010, p. 1789-1801
Ren, Zhiguo; Liao, Jiarui; Cai, Lilong Article

2009 6

Accurate dimensional measurement of 3D round holes based on stereo vision
World Academy of Science, Engineering and Technology, v. 36, Decemver 2009, p. 846-852
Ren, Zhiguo; Cai, Lilong Article
Fourier-Neural-Network-Based Learning Control for a Class of Nonlinear Systems With Flexible Components
IEEE transactions on neural networks, v. 20, (1), January 2009, p. 139-151
Zuo, Wei; Zhu, Yang; Cai, Lilong Article
Three-Dimensional Structure Measurement of Diamond Crowns Based on Stereo Vision
Applied optics, v. 48, (31), November 2009, p. 5917-5932
Ren, Zhiguo; Cai, Lilong Article
基于FPGA的速度滑动估算策略
电气传动=Electric Drive, v. 39, (3), 2009, p. 44-46+76
宋寶; 唐小琦; 蔣俊敏; 蔡李隆 Article
Accurate Dimensional Measurement of 3D Round Holes Based on Stereo Vision
International Conference on Machine Vision, Image Processing, and Pattern Analysis (MVIPPA 2009), Bankok, Thailand, 25 - 27 December 2009
Ren, Zhiguo; Cai, Lilong Conference paper
Diamond color grading based on machine vision
2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops 2009, 2009, article number 5457523, p. 1970-1976
Ren, Z.; Liao, J.; Cai, Lilong Conference paper

2008 5

Adaptive-Fourier-Neural-Network-Based Control for a Class of Uncertain Nonlinear Systems
IEEE transactions on neural networks, v. 19, (10), October 2008, p. 1689-1701
Zuo, Wei; Cai, Lilong Article
基于傅立叶变换的频域调节器在往复运动中的运用
电气传动=Electric Drive, v. 2008, (12), 2008, p. 39-41
宋寶; 唐小琦; 蔡李隆 Article
基于傅立叶变换的频域调节器在往复运动中的运用
制造技术与机床=Manufacturing Technology & Machine Tool, v. 9, 2008, p. 58-61
宋寶; 唐小琦; 蔡李隆 Article
带滤波前馈的变参数PID调节器在伺服驱动中的运用
仪表技术与传感器=Instrument Technique and Sensor, v. 12, 2008, p. 81-86
宋宝; 唐小琦; 蔡李隆 Article
A calibration method for uncoupling projector and camera of a structured light system
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2008, article number 4601757, p. 770-774
Liao, J.; Cai, Lilong Conference paper

2007 2

Current control for single phase ac resistance spot welding systems using fourier learning scheme
26th Iasted International Conference on Modelling, Identification, and Control, Innsbruck, Austria, 12-14 February 2007
Zhao, Xin; Cai, Lilong Conference paper
Trajectory Tracking Control Using Fourier Series Based Learning Controller with Phase Compensation
IASTED conference on Intelligent Systems and Control (ISC 2007), Cambridge, Massachusetts, USA, 19-21 November 2007
Zuo, Wei; Jiang, Junmin; Cai, Lilong Conference paper

2006 4

Application of Finite Element Analysis in the Simulation of Spot Welding Process
Engineering Journal of WuHan University, v. 39, 2006, p. 94-99
Mei, Weilong; Li, Vincent; Cai, Lilong Article
A novel approach for 3D discontinuity measurement by combining relative and absolute methods
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, article number 4141928, p. 567-571
Liao, J.; Cai, Lilong Conference paper
Application of Finite Element Analysis on the Simulation of Spot Welding Process
ANSYS-CHINA Conference 2006,Nov, 2006 Hainan, China
Mei, Weilong; Li, Vincent; Cai, Lilong Conference paper
Measurement of discontinuities on 3D objects using digital moiré
Proceedings of SPIE: The International Society for Optical Engineering, v. 6056, 2006, article number 605602
Liao, J.; Cai, Lilong Conference paper

2005 6

Variable amplitude Fourier series with its application in gearbox diagnosis - Part I: Principle and simulation
Mechanical systems and signal processing, v. 19, (5), 2005, SEP, p. 1055-1066
Yuan, XH; Cai, Lilong Article
Variable amplitude Fourier series with its application in gearbox diagnosis - Part II: Experiment and application
Mechanical systems and signal processing, v. 19, (5), 2005, SEP, p. 1067-1081
Yuan, XH; Cai, Lilong Article
High-security data encryption system with virtual optics and its implementation with parallel DSP
Proceedings of SPIE - The International Society for Optical Engineering, v. 5642, 2005, p. 116-123
Zhang, P.; Peng, X.; Cai, Lilong; Niu, H. Conference paper
Tracking control of a belt-driving system using improved Fourier series based learning controller
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, p. 2253-2258
Zhu, Y.; Zuo, W.; Cai, Lilong Conference paper
Tracking control of nonlinear systems using fourier neural network
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v. 1, 2005, p. 670-675
Zuo, W.; Cai, Lilong Conference paper
Virtual-optical information security system based on public key infrastructure
Proceedings of SPIE - The International Society for Optical Engineering, v. 5642, 2005, p. 52-60
Peng, X.; Zhang, P.; Cai, Lilong; Niu, H. Conference paper

2004 2

Information security system based on virtual-optics imaging methodology and public key infrastructure
Optik, v. 115, (9), 2004, p. 420-426
Peng, X.; Zhang, P.; Cai, Lilong Article
Numerical reconstruction of digital holography with changed viewing angles
Journal of electronic imaging, v. 13, (4), 2004, OCT, p. 814-818
Yu, LF; An, YF; Cai, LL Article

2003 9

Data encryption by disarranging the holographic information with rotated holograms
Optik, v. 114, (11), 2003, p. 497-503
Yu, LF; Cai, Lilong Article
Digital audio signal encryption with a virtual optics scheme
Optik, v. 114, (2), 2003, p. 69-75
Peng, X.; Cui, ZY; Cai, Lilong; Yu, LF Article
Digital watermarking in three-dimensional space with a virtual-optics imaging modality
Optics communications, v. 226, (1-6), 2003, OCT 15, p. 155-165
Peng, X.; Yu, LF; Cai, Lilong Article
Multidimensional data encryption with digital holography
Optics communications, v. 215, (4-6), 2003, JAN 15, p. 271-284
Yu, LF; Cai, Lilong Article
Amplitude modulated Fourier series
Proceedings of 2003 International Conference on Machine Learning and Cybernetics, v. 5 / IEEE. Piscataway, NJ : IEEE, 2003, p. 2869-2875
Chen, Qing Hu; Cai, Lilong Conference paper
Gearbox diagnosis using a modified Fourier series
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003, p. 193-198
Yuan, XH; Cai, LL Conference paper
Numerical reconstruction of 3D objects with different viewing angles
Proceedings of SPIE - The International Society for Optical Engineering, v. 5005, 2003, p. 224-230
Yu, L.; Cai, Lilong Conference paper
Segmentation of time-varying signals by using variable amplitude fourier series
Proceedings of SPIE - The International Society for Optical Engineering, v. 5286, (2), 2003, p. 770-775
Chen, Q.; Cai, Lilong Conference paper
Tracking control of a belt-driven position table using Fourier series based learning control scheme
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, 2003, p. 196-201
Yang, Z.; Cai, LL Conference paper

2002 8

Decentralized nonlinear adaptive control of an HVAC system
IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews, v. 32, (4), 2002, p. 493-498
Huaguang, Z.; Cai, Lilong Article
Double-lock for image encryption with virtual optical wavelength
Optics express, v. 10, (1), 2002, JAN 14, p. 41-45
Peng, Xiang; Yu, Lingfeng; Cai, Lilong Article
Fuzzy adaptive control of nonlinear processes with feed forward compensator and its application
Cybernetics and systems, v. 33, (2), 2002, Mar, p. 171-187
Zhang, HG; Li, M.; Cai, Lilong Article
Multivariable fuzzy generalized predictive control
Cybernetics and systems, v. 33, (1), 2002, JAN-FEB, p. 69-99
Huaguang, Z.; Cai, Lilong Article
Nonlinear adaptive control using the Fourier integral and its application to CSTR systems
IEEE TRANSACTIONS on SYSTEMS Man and Cybernetics PART b-cybernetics, v. 32, (3), 2002, JUN, p. 367-372
Zhang, HG; Cai, Lilong Article
Numerical reconstruction of digital holograms with variable viewing angles
Optics express, v. 10, (22), 2002, p. 1250-1257
Yu, Lingfeng; An, Yingfei; Cai, Lilong Article
Parameterized multi-dimensional data encryption by digital optics
Optics communications, v. 203, (1-2), 2002, MAR 1, p. 67-77
Yu, LF; Peng, X.; Cai, Lilong Article
Surface normal guided method for two-dimensional phase unwrapping
Optik, v. 113, (10), 2002, p. 439-447
Lo, CF; Peng, X.; Cai, Lilong Article

2001 4

Iterative algorithm with a constraint condition for numerical reconstruction of a three-dimensional object from its hologram
Journal OF The OPTICAL Society OF AMERICA a-optics IMAGE science and VISION, v. 18, (5), 2001, MAY, p. 1033-1045
Yu, LF; Cai, Lilong Article
Zero and direction reference mark based on phase jump
Optical Engineering, v. 40, (2), 2001, FEB, p. 289-294
Zhou, WD; Cai, Lilong Article
A Fourier series based iterative learning control for nonlinear uncertain systems
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v. 1, 2001, p. 482-487
Qin, W.; Cai, Lilong Conference paper
A frequency domain iterative learning control for low bandwidth system
Proceedings of the American Control Conference, v. 2, 2001, p. 1262-1267
Qin, W.; Cai, Lilong Conference paper

2000 6

A fuzzy basis function vector-based multivariable adaptive controller for nonlinear systems
IEEE TRANSACTIONS on SYSTEMS Man and Cybernetics PART b-cybernetics, v. 30, (1), 2000, FEB, p. 210-217
Zhang, HG; Cai, Lilong; Bien, Z. Article
A Learning Controller for Robot Manipulators Using Fourier Series
IEEE Transactions on Robotics and Automation, v. 16, (1), February 2000, p. 36-45
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing Article
A multivariable generalized predictive control approach based on T-S fuzzy model
Journal of intelligent & fuzzy systems, v. 9, (3-4), 2000, p. 169-189
Zhang, HG; Cai, LL; Bien, Z. Article
Edge Location by Use of Optical Phase Variation
Applied Optics, v. 39, (16), 2000, JUN 1, p. 2569-2576
Zhou, WD; Cai, Lilong Article
Fourier series based learning control and application to positioning table
Robotics and autonomous systems, v. 32, (2-3), 2000, AUG 31, p. 89-100
Cai, Lilong; Huang, W. Article
New hybrid controller for systems with deterministic uncertainties
Ieee-asme TRANSACTIONS on Mechatronics, v. 5, (4), 2000, DEC, p. 342-348
Huang, WQ; Cai, Lilong Article

1999 10

Improved Angle Interferometer Based on Total Internal Reflection
Applied Optics, v. 38, (7), 1999, MAR 1, p. 1179-1185
Zhou, WD; Cai, Lilong Article
Investigation on phase jump in a differential interferometer
Journal of applied physics, v. 85, (9), 1999, MAY 1, p. 6295-6302
Zhou, WD; Cai, Lilong Article
Method for edge detection based on phase jump in a differential interferometer
Applied optics, v. 38, (1), 1999, JAN 1, p. 152-159
Zhou, WD; Cai, Lilong Article
Optical readout for optical storage with phase jump
Applied optics, v. 38, (23), 1999, AUG 10, p. 5058-5065
Zhou, WD; Cai, Lilong Article
Robust friction compensation for precise and smooth position regulation
PROCEEDINGS OF The INSTITUTION OF Mechanical ENGINEERS PART i-journal OF SYSTEMS and control engineering, v. 213, (I2), 1999, p. 157-161
Song, G.; Cai, Lilong; Wang, Y. Article
基于傅里叶级数的非线性学习控制算法
華中理工大學學報, v. 1999, (02), 1999
唐小琦; 周濟; 蔡李隆 Article
Decentralized learning control for robot manipulators
PROC IEEE INT CONF ROB AUTOM, Vol. 2, pp. 843-848. 1999
Huang, Weiqing; Cai, Lilong; Tang, Xiaoqi Conference paper
Method for optical readout using phase jump
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, USA, 19-23 September 1999, p. 950-955
Cai, Lilong; Zhou, Weidong Conference paper
Positioning method for hard disk servowriter using an auto focus laser encoder
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, USA, 19-23 September 1999, p. 922-925
Cai, Lilong; Zhou, Weidong Conference paper
Wavelet analysis in a simple rotor's run-up process
INTEGRATING DYNAMICS, CONDITION MONITORING AND CONTROL FOR THE 21ST CENTURY - DYMAC 99, 1999, p. 175-179
Ji, GY; Cai, LL Conference paper

1998 12

A phase jump phenomenon in interferometry
Applied physics letters, v. 73, (23), 1998, DEC 7, p. 3339-3341
Zhou, WD; Cai, Lilong Article
A sliding-mode based smooth adaptive robust controller for friction compensation
International journal of robust and nonlinear control, v. 8, (8), 1998, JUL 15, p. 725-739
Song, GB; Cai, Lilong; Wang, YP; Longman, RW Article
An angular displacement interferometer based on total internal reflection
Measurement science & technology, v. 9, (10), 1998, OCT, p. 1647-1652
Zhou, WD; Cai, Lilong Article
Autofocus laser rotary encoder
Applied optics, v. 37, (13), 1998, MAY 1, p. 2691-2695
Zhang, JH; Cai, Lilong Article
Integrated adaptive-robust control of robot manipulators
Journal of robotic systems, v. 15, (12), 1998, DEC, p. 699-712
Song, G.; Longman, RW; Cai, Lilong Article
Interferometer for small-angle measurement based on total internal reflection
Applied optics, v. 37, (25), 1998, SEP 1, p. 5957-5963
Zhou, WD; Cai, Lilong Article
Interferometric straightness measurement system using triangular prisms
Optical Engineering, v. 37, (6), 1998, JUN, p. 1785-1789
Zhang, JH; Cai, Lilong Article
Robust position/force control of robot manipulators during constrained tasks
IEE proceedings-control THEORY and APPLICATIONS, v. 145, (4), 1998, JUL, p. 427-433
Song, G.; Cai, Lilong Article
机器人操作臂的解耦跟踪控制
華中理工大學學報, v. 1998, (12), 1998
唐小琦; 周濟; 蔡李隆 Article
A New Method on Repetitive Tracking Control of Electro-hydraulic Servo Systems
Proceedings of the American Control Conference, v. 5, 1998, p. 2685-2686
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing Conference paper
Acceleration Feedback of Tracking Control based on Real Time Fourier Series
Proceedings of the American Control Conference, v. 6, 1998, p. 3322-3326, article number 703189
Tang, Xiaoqi; Cai, Lilong; Huang, Weiqing Conference paper
Adaptive repetitive output feedback control for friction and backlash compensation of a positioning table
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes, 1998, p. 1250-1251
Huang, WQ; Cai, Lilong; Tang, XQ Conference paper

1997 7

An autofocusing measurement system with a piezoelectric translator
IEEE/ASME Transactions on Mechatronics, v. 2, (3), 1997, p. 213-216
Zhang, J.H.; Cai, Lilong Article
Profilometry using an optical stylus with interferometric readout
Measurement science & technology, v. 8, (5), 1997, MAY, p. 546-549
Zhang, JH; Cai, Lilong Article
A model-free decentralized control for robot manipulators
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 3106-3111
Cai, Lilong; Tang, XQ Conference paper
An auto-focusing measurement system with the piezoelectric translator
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 2801-2806
Zhang, JH; Cai, Lilong Conference paper
Integrated adaptive-robust control of robot manipulators with joint stick-slip friction
Proceedings of the 1997 IEEE International Conference on Control Applications, Hartford, CT, USA, 5-7 October 1997, p. 177-182
Cai, Lilong; Song, G.; Longman, R.W. Conference paper
On the improvement of tracking performance of flexible robot arm using FFT method
IEEE International Conference on Robotics & Automation (ICRA), 1997, p. 2541-2546
Cai, Lilong; Tang, XQ Conference paper
Profilometry using an optical stylus with interferometric readout
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 1997, p. 62
Zhang, JiHua; Cai, Lilong Conference paper

1996 7

A new approach to robust position/force control of flexible-joint robot manipulators
Journal of robotic systems, v. 13, (7), 1996, JUL, p. 429-444
Song, G.; Cai, Lilong Article
A compact optical vibration transducer with photo IC
JOINT CONFERENCE - 1996: IEEE INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE & IMEKO TECHNICAL COMMITTEE 7, CONFERENCE PROCEEDINGS, VOLS I AND II: QUALITY MEASUREMENTS: THE INDISPENSABLE BRIDGE BETWEEN THEORY AND REALITY (NO MEASUREMENTS? NO SCIENCE!), 1996, p. 513-517
Zhang, JH; Cai, Lilong Conference paper
A new control method for uncertain nonlinear systems tracking control
IEEE International Conference on Robotics & Automation (ICRA), 1996, p. 933-938
Cai, Lilong; Zhao, ZY Conference paper
Continuous electrodeposition onto a moving resistive cathode
Proceedings of the 1996 83rd AESF Annual Technical Conference, Cleveland, OH, USA, 10-13 June 1996, p. 1051-1055
Cai, Lilong; Chen, H.Y. Conference paper
Model-free controller design for positioning tables
Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2), Boston, MA, USA, 7-10 July 1996, p. 349-356
Cai, Lilong; Zhao, Zhenying Conference paper
On the improvement of tracking performance of positioning tables
Proceedings of the Annual Conference of the IEEE Industrial Electronics Society, 1996, p. 1990-1995
Zhao, ZY; Cai, Lilong Conference paper
Output feedback tracking control of electro-hydraulic servo systems
Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes, 1996, p. 2713-2718
Zhao, ZY; Cai, Lilong Conference paper

1995 6

A sliding-mold based smooth adaptive robust controller for friction compensation
American Control Conference, Seattle, Washington, USA, June 21-23 1995, p. 3531-3535
Song, G.; Wang, Y.; Cai, Lilong; Longman, R.W. Conference paper
A smooth robust control approach to cooperation of multiple robot manipulators
1995 American Control Conference, Seattle, Washington, USA, June 21-23 1995, p. 1382-1386
Song, G.; Cai, Lilong Conference paper
Active vibration control of axially moving continua
Proceedings of SPIE - The International Society for Optical Engineering, v. 2620, 1995, p. 780-785
Cai, Lilong Conference paper
Control of single-link flexible arms with bounded unknown payload
Proceedings of SPIE - The International Society for Optical Engineering, v. 2620, 1995, p. 608-613
Cai, Lilong Conference paper
Control of single-link flexible arms with bounded unknown pay-load
1995 International Conference on Intelligent Manufacturing, Wuhan, China, June 14-17 1995, p. 608-613
Cai, Lilong Conference paper
Robust friction compensation for precise and smooth position regulation
Proceedings of the 4th IEEE Conference on Control Applications, Albany, NY, U.S.A., September 28-29 1995, p. 308-309
Song, G.; Cai, Lilong Conference paper

1994 9

Joint stick-slip friction compensation of robot manipulators by using smooth robust controllers
Journal of Robotic Systems, v. 11, (6), 1994, p. 451-470
Cai, Lilong; Song, G. Article
On the stability of the equilibrium states and small oscillations of nonholonomic systems
Dynamics and Stability of Systems, v. 9, (1), 1994, p. 3-17
Cai, Lilong Article
A new approach to control of robot manipulators during constraint tasks
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 103-107
Song, G.; Cai, Lilong; Abdalla, A.; Li, S. Conference paper
Interactive adaptive-robust tracking control of robot manipulators
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 5-9
Song, G.; Cai, Lilong; Abdalla, A. Conference paper
Robust position/force control of uncertain robots during contact tasks
Proceedings of 1994 American Control Conference, Baltimore, Maryland, v.1, 1994, p. 216-220
Cai, Lilong; Song, G. Conference paper
Smooth adaptive robust friction compensation
Proceedings of IEEE Regional NYNJ Control Conference, 1994, p. 126-131
Song, G.; Wang, Y.; Cai, Lilong; Longman, R.W. Conference paper
Smooth robust control of cooperating robot manipulators handling a constrained object
Proceedings of 1994 IEEE International Conference on Systems, Man and Cybernetics, San Antonio, TX, USA, October 2-5 1994, p. 931-936
Song, G.; Cai, Lilong Conference paper
Stability analysis of robot manipulators subject to feedforward neural network controllers
Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3), San Antonio, TX, USA, 2-5 October 1994, p. 2588-2593
Abdalla, A.; Cai, Lilong Conference paper
Stick-slip friction compensation of uncertain robot manipulators using neural network controllers
Proceedings of IFAC Symposium on Robot Control '94, Capri, Italy, September 19-21 1994, p. 973-978
Song, G.; Abdalla, A.; Cai, Lilong Conference paper

1993 2

A smooth robust nonlinear controller for robot manipulators with joint's stick-slip friction
Proceedings of 93 IEEE International Conference on Robotics and Automation, Atlanta, GA, v. 1, May 1993, p. C449-C454
Cai, Lilong; Song, G. Conference paper
Smooth robust tracking controllers for uncertain robotic manipulators
Proceedings of 93 IEEE International Conference on Robotics and Automation, Atlanta, GA, v. 3, May 1993, p. 83-88
Cai, Lilong; Abdalla, A. Conference paper

1992 3

Design of a device for the mechanical energy output measurement of a human during motion
The Proceedings of 5th International Conference on Production Engineering, Design & Control, Alexandria, Egypt, December 1992, p. 583-592
Sun, S.Y.; Cai, Lilong; Heymsfield, B. Conference paper
On the design of three-axis force sensors
Proceedings of 5th International Conference on Production Engineering, Design & Control, Alexandria, Egypt, December 1992, p. 693-702
Wasfy, T.; Cai, Lilong; Sun, S.Y. Conference paper
On the dynamics of nonholonomic systems
The Proceedings of XVIIIth International Congress of Theoretical and Applied Mechanics, Haifa, Israel, August 1992
Cai, Lilong Conference paper

1991 1

Robust control of a multifingered hand performing coordinated and rolling manipulations
Proceedings of 1991 ASME Winter Annual Meeting, Atlanta, GA, USA, v. 33, 1991, p. 91-96
Cai, Lilong Conference paper

1990 3

An intelligent controller for robot contact and non-contact task control
Proceedings of the Fifth IEEE International Symposium on Intelligent Control, Philadelphia, PA, September 1990, p. 370-375
Cai, Lilong; Goldenberg, A.A.; Ananthanarayanan, S.P. Conference paper
Robust control of position and force for robot manipulators involving both free and constrained motion
The Proceedings of 29th IEEE Conference on Decisions and Control, Honolulu, HI, December 1990, p. 1943-1948
Cai, Lilong; Goldenberg, A.A. Conference paper
Robust control of position and force of robots during free and Compliant Motion
Proceedings of the Canadian Society of Mechanical Engineers Forum 1990, Toronto, v. 3, June 1990, p. 429-434
Cai, Lilong; Goldenberg, A.A. Conference paper

1989 4

A new approach of control position and force for a robot manipulator
Proceedings of the IEEE International Conference on Control and Applications, Israel, Jerusalem, April 1989, p. 740-746
Cai, Lilong; Goldenberg, A.A. Conference paper
Approach to force and position control of robot manipulators
Proceedings of the IEEE International Conference on Robotics and Automation, Phoenix, AZ, May 1989, p. 86-91
Cai, Lilong; Goldenberg, A.A. Conference paper
Position and force control approach to automatic demurring by a Robot Manipulator
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Boston, MA, 14-17 November 1989, p. 784-789
Cai, Lilong; Goldenberg, A.A. Conference paper
Robust control of position and force for a robot manipulator in non-contact and contact tasks
Proceedings of the American Control Conference, Pittsburgh, PA, June 1989, p. 1905-1911
Cai, Lilong; Goldenberg, A.A. Conference paper

1988 2

Robust control of robot using Cartesian space feedback
Proceedings of the 1988 IEEE International Conference on System, Man and Cybernetics, Beijing and Shenyang, China, August 1988, p. 250-255
Cai, Lilong; Goldenberg, A.A. Conference paper
Robust control of unconstrained maneuver and collision for a robot manipulator with bounded parameter uncertainty
Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, April 1988, p. 1010-1015
Cai, Lilong; Goldenberg, A.A. Conference paper

1985 1

Control of a multifingered hand for the identification of an object
Proceedings of the 1st IFAC Symposium on Robot Control, Barcelona, Spain, November 1985, p. 48-52
Cai, Lilong; Woods, B.; Goldenberg, A.A. Conference paper


No Publications






Teaching Assignment

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2021-22 Winter 0 2021-22 Fall 2 2020-21 Summer 0 2020-21 Spring 5 2020-21 Winter 0 2020-21 Fall 3

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MECH3610 Control Principles
MECH4900 Final Year Design Project


MECH4710 Introduction to Robotics
MECH4900 Final Year Design Project
MECH4950 Co-op Program
MECH4980 Final Year Aerospace Design Project
MESF5550 Robotics


MECH3610 Control Principles
MECH4900 Final Year Design Project
MECH4980 Final Year Aerospace Design Project


No Teaching Assignments


No Teaching Assignments


No Teaching Assignments






Research Postgraduate (RPG) Supervision From January 2019 to December 2022 (As of 30 January 2022)

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All Supervisions Current RPGs Graduated RPGs

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Current RPGs

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Doctor of Philosophy LIU, Zhou
Mechanical Engineering( 2019 - )

QU, Yang
Mechanical Engineering( 2017 - )

SONG, Yuchun
Mechanical Engineering( 2017 - )

XU, Qingshi
Mechanical Engineering( 2017 - )

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Master of Philosophy LAI, Zhimin
Mechanical Engineering( 2019 - )

MAN, Ting Kwan
Mechanical Engineering( 2019 - )

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Graduated RPGs

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Doctor of Philosophy LU, Zhangji
Mechanical Engineering( Completed in 2021 )

WAHEED, Abdul
Mechanical Engineering( Completed in 2019 )

WANG, Wenjing
Mechanical Engineering( Completed in 2019 )

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Master of Philosophy LEUNG, Yuk Ching
Mechanical Engineering( Completed in 2020 )









ProjectsFrom January 2020 to December 2022

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All Projects 7 Leading Projects 6 Participating Projects 1

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Developing a simultaneous planning and execution (SPAE) system for fully autonomous quadrotors


基於自動四軸 飛行器的同步規劃與執行的研究 Leading


RGC - General Research Fund


Project Team (HKUST)
CAI Lilong (Lead)


2020 -




Developing an autonomous guidance, navigation and control (GNC) system for unmanned surface vehicles


關於無人船自主引導導航控制系統的研究 Leading


RGC - General Research Fund


Project Team (HKUST)
CAI Lilong (Lead)


2019 -




Automatic Flaw Inspection System for Laser-cut Plywood Boards


鐳射切割膠合層板的缺陷自動檢測系統 Leading


Innovation and Technology Fund, Starlite Holdings Limited, Starlite Visual Communication Limited


Project Team (HKUST)
CAI Lilong (Lead)


2018 - 2021




Development of a highly accurate and flexible stereo vision system based on the thin lens model


基於薄透鏡模型的高精度和靈活的立體視覺系統開發 Leading


RGC - General Research Fund


Project Team (HKUST)
CAI Lilong (Lead)


2018 - 2021




Investigation on autonomous trajectory tracking and cooperation of unmanned surface vehicles on open sea


高海況下遠海多無人船自主循跡與協同關鍵技術研究及產業化應用示范 Participating


Department of Science and Technology of Guangdong Province


Project Team (HKUST)
CAI Lilong


2018 - 2021




On the development of the model based algorithm for diamond clarity and cut grading using computer vision


基於模型和計算機視覺的鑽石淨度和切工分級算法的研究 Leading


RGC - General Research Fund


Project Team (HKUST)
CAI Lilong (Lead)


2016 - 2020




Fabrication and mechanical behavior of in situ polymer composites Leading


Radar Co. Ltd.


Project Team (HKUST)
CAI Lilong (Lead)


1996 -