Publications

Refereed Journal Articles

  1. R. Acs & Hanqi Zhuang, “Semi-supervised synthesis of 7T MRI from 3T using 3D FR-U-Net with anatomical segmentation consistency assessment,” PLOS ONE, in press.
  2. T. Vo, A. K. Ibrahim, H. Zhuang, and C. Bang, “Extraction and Interpretation of EEG Features for Diagnosis and Severity Prediction of Alzheimer’s Disease and Frontotemporal Dementia Using Deep Learning." Biomedical Signal Processing & Control, in press.
  3. A. S. Altaher, C. Bang, B. Alsharif, A. Altaher, M. Alanazi, H. Altaher, and H. Zhuang, “Mamba vision models: Automated American sign language recognition,” Franklin Open, vol. 10, p. 100224, 2025.
  4. C. Bang, A. S. Altaher, A. Altaher, H. Moamin, T. Alshammari, B. Alkanjr, H. Altaher, M. G. Al-Jassani, and H. Zhuang, “Finger Knuckle Print classification: Leveraging vision Mamba for low complexity and high accuracy,” Franklin Open, p. 100261, 2025.
  5. T. Vo, A. K. Ibrahim, and H. Zhuang, “A Multimodal Multi-Stage Deep Learning Model for the Diagnosis of Alzheimer’s Disease Using EEG Measurements,” Neurology International, vol. 17, no. 6, p. 91, 2025.
  6. P. DeVito, A. Vallala, S. Mcmahon, Y. Hinda, B. Thaw, H. Zhuang, and H. Kalva, “Unpacking Generative AI in Education: Computational Modeling of Teacher and Student Perspectives in Social Media Discourse,” arXiv preprint arXiv:2506.16412, 2025.
  7. R. Acs and H. Zhuang, “A review on cross-contrast MRI image synthesis through deep learning,” Discover Imaging, vol. 2, no. 1, pp. 1–28, 2025.
  8.  C. Bang, A. S. Altaher, H. Zhuang, A. Altaher, A. Srinivasan, and L. M. Cherubin, “Physics-Informed Neural Networks to Reconstruct Surface Velocity Field from Drifter Data,” Frontiers in Marine Science, vol. 12, p. 1547995, 2025.
  9. Abidalkareem, A., Ibrahim, A. K., Abd, M., Rehman, O., & Zhuang, H. (2024). Identification of Gene Expression in Different Stages of Breast Cancer with Machine Learning. Cancers, 16(10), 1864. MDPI.
  10. Ibrahim, A. K., Zhuang, H., Schärer-Umpierre, M., Woodward, C., Erdol, N., & Cherubin, L. M. (2024). Fish Acoustic Detection Algorithm Research: A Deep Learning App for Caribbean Grouper Calls Detection and Call Types Classification. Frontiers in Marine Science, 11, 1378159. Frontiers Media SA.
  11.  Zilouchian, A., Romance, N., & Zhuang, H. (2024). Empowering Hispanic Students in STEM through Financial Literacy. 2024 ASEE Annual Conference & Exposition.
  12. Muhamed Ali, A., Zhuang, H., Huang, Y., Ibrahim, A. K., Altaher, A. S., & Cherubin, L. M. (2024). Ocean Currents Velocity Hindcast and Forecast Bias Correction Using a Deep-Learning Approach. Journal of Marine Science and Engineering, 12(9), 1680. MDPI.
  13. Alsaidi, M., Al-Jassani, M. G., Bang, C., O'Corry-Crowe, G., Watt, C., Ghazal, M., & Zhuang, H. (2024). Localization and Tracking of Beluga Whales in Aerial Video Using Deep Learning. Frontiers in Marine Science, 11, 1445698. Frontiers Media SA.
  14.  Altaher, A. S., Bang, C., Alsharif, B., Altaher, A., Alanazi, M., Altaher, H., & Zhuang, H. (2025). Mamba Vision Models: Automated American Sign Language Recognition. Franklin Open, 100224. Elsevier.
  15. Altaher, A., M. K. Mezaal, M. T. Jan, M. Alanazi, M. Alsaidi, Z. Salekshahrezaee, A. S. Altaher, and H. Zhuang, “Finger Knuckle Print Classification Using Pretrained Vision Models,” in 2023 IEEE 20th International Conference on Smart Communities: Improving Quality of Life using AI, Robotics and IoT (HONET), 2023, pp. 62-67.
  16.  Altaher, A.S., H. Zhuang, A.K. Ibrahim, A.M. Ali, A Altaher, J. Locascio, M.P. McCallister, M.J. Ajemian, and L.M. Chérubin, “Detection and localization of Goliath grouper using their low-frequency pulse sounds," The Journal of the Acoustical Society of America, 2023
  17. Ibrahim, A.K., H. Zhuang, E. Tognoli, A.M. Ali, and N. Erdol, “Epileptic seizure prediction based on multiresolution convolutional neural networks,” Frontiers in Signal Processing, 2023.
  18.  Acs, M, R Acs, C Briandi, E Eubanks, O Rehman, “Exploration of the Relevance of MicroRNA Signatures for Cancer Detection and Multiclass Cancer Classification,” IEEE Access, 2023.
  19. Singh, R.B., H. Zhuang, “Measurements, analysis, classification, and detection of gunshot and gunshot-like sounds,” Sensors, 2022.
  20.  Muhamed Ali A., H Zhuang, AK Ibrahim, JL Wang, L. M. Chérubin, “Deep learning prediction of two-dimensional ocean dynamics with wavelet-compressed data,” Frontiers in Artificial Intelligence, 2022.
  21.  Huang, Y., Y. Tang, X. Zhu, H. Zhuang, and L. Cherubin, “Physics-Coupled Spatio-Temporal Active Learning for Dynamical Systems,” IEEE Access, 2022.
  22.  Huang, Y., Y. Tang, H. Zhuang, J. VanZwieten, and L. Cherubin, “Physics-Informed Tensor-Train ConvLSTM for Volumetric Velocity Forecasting of the Loop Current,” Frontiers in Artificial Intelligence 2021, 4, 197-208.
  23.  Muhamed Ali, A.; Zhuang, H.; VanZwieten, J.; Ibrahim, A.K.; Chérubin, L. A, “Deep Learning Model for Forecasting Velocity Structures of the Loop Current System in the Gulf of Mexico,” Forecasting 2021, 3, 1-10.     
  24. Baliram Singh, R.; Zhuang, H.; Pawani, J.K., “Data Collection, Modeling, and Classification for Gunshot and Gunshot-like Audio Events: A Case Study,” Sensors 2021, 21, 1-12.
  25. Brewster, L.R.; Ibrahim, A.K.; DeGroot, B.C.; Ostendorf, T.J.; Zhuang, H.; Chérubin, L.M.; Ajemian, M.J., “Classifying Goliath Grouper (Epinephelus itajara) Behaviors from a Novel, Multi-Sensor Tag,” Sensors 2021, 21, 1-20.
  26.  Ibrahim, A. K, H. Zhuang, Hanqi, L.M. Cherubin, N. Erdol, G. O Corry-Crowe, and A. Muhamed Ali, “A multimodel deep learning algorithm to detect North Atlantic right whale up-calls,” J. Acoustical Society of America, 2021, 150(2), 1264-1272.
  27. Wang, J.L.; Zhuang, H.; Chérubin, L.; Muhamed Ali, A.; Ibrahim, A, “Loop Current SSH Forecasting: A New Domain Partitioning Approach for a Machine Learning Model,” Forecasting 2021, 3, 570-579.
  28.  Ibrahim, A. K, H. Zhuang, Hanqi, L.M. Cherubin, M.T. Schrer-Umpierre, R.S. Nemeth, N. Erdol, and A. Muhamed Ali, “Transfer learning for efficient classification of grouper sound,” J. Acoustical Society of America-EL, Vol. 148, No. 3, pp. 260-266, 2020.
  29. Wang, J., H. Farooq, A.K. Ibrahim, and H. Zhuang, “Segmentation of Intracranial Hemorrhage Using Semi-Supervised Multi-Task Attention-Based U-Net,” Applied Science, 10(3297), pp.1-12, May 2020. 
  30. Gorday, P., N. Erdol, and H. Zhuang, "Complex-Valued Neural Networks for Noncoherent Demodulation," IEEE Access, 1, 217-222, 2020.
  31. Muhamed Ali, A., H. Zhuang, A. K. Ibrahim, “Multi-pose facial expression recognition using Rectangular HOG feature extractor and Label-Consistent KSVD classifier”. IJBM, 12(2), pp.147-162, 2020.
  32. Wang, J., H. Zhuang, L.M. Cherubin, A. Ali, and A. Muhamed-Ali, “Medium-Term Forecasting of the LCS and its Eddy Formations in GoM with a Divide-and-Conquer Machine Learning Approach,” J. Geophysical Research, 124(8), 5586-5606, July 2019.
  33. Ibrahim, A., H Zhuang, L.M. Chérubin, M.T. Schärer Umpierre, A.M. Ali, R. S Nemeth, and N. Erdol. “Classification of Red Hind Grouper Call Types using Random Ensemble of Stacked Autoencoders”. J. Acoustical Society of America, 146 (4), 2155-2162, 2019
  34.  Rehman, O., H. Zhuang, A. Ibram, A. Muhamed Ali, and Z. Li, “Validation of miRNAs as Breast Cancer Biomarkers with a Machine Learning Approach.” Cancers, 11(3), 431, 1-10, 2019.
  35.  Muhamed Ali, A., H. Zhuang, A. Ibrahim, O. Rehman, M. Huang, and A. Wu, “A Machine Learning Approach for the Classification of Kidney Cancer Subtypes Using miRNA Genome Data,” Applied Science, 8(2422), pp. 1-14, 2018.
  36.  Ibrahim, A., H. Zhuang, L.M. Cherubin, and N. Erdol, “Automatic Classification of Grouper Species by Their Sounds using Deep Neural Networks,” J. Acoustical Society of America - EL, Vol. 144, No. 3, 196-202, 2018. 
  37.  Ibrahim, A., L.M. Cherubin, H. Zhuang, M.T. S. Umpierre, F. Dalgleish, N. Erdol, B. Ouyang, and A. Dalgleish, “An Approach for Automatic Classification of Grouper Vocalizations with Passive Acoustic Monitoring,” J. Acoustical Society of America, Vol. 143, No. 2, pp 666-676, February 2018. 
  38.  Vegad, S., H. Patel, H. Zhuang, and M. Naik, “Audio-Visual Person Recognition Using Deep Convolutional Neural Networks,” (Undergraduate Student Paper), J Biostatics and Biometrics, Vol. 8, No. 5, Oct. 2017, pp. 1-7, 2017.
  39.  Muhamed-Ali A., H. Zhuang, and A. Ali, “An Approach for Facial Expression Recognition,” Int Journal of Biometrics, Vol. 9, No. 2, pp96-112, 2017.
  40. Esfahanian, M., H. Zhuang, N. Erdol, and E. Gerstein, “Two-stage Detection of North Atlantic Right Whale Upcalls using Local Binary Patterns and Machine Learning Algorithms,” J. Applied Acoustics, Vol. 120, May 2017, pp 158-166.
  41.  Esfahanian, M., H. Zhuang, and N. Erdol, “Sparse Representation for Classification of Dolphin Whistles by Type,” J. Acoustical Society of America – EL, Vol. 136 (1), July,2014.
  42. Esfahanian, M., H. Zhuang, and N. Erdol, “On Contour-based Classification of Dolphin Whistles by Type,” J. Applied Acoustics, Vol. 76, pp. 274-279, Feb 2014.
  43.  Esfahanian, M., H. Zhuang, and N. Erdol, "Using Local Binary Patterns as Features for Classification of Dolphin Calls," J. Acoustical Society of America – EL, Vol. 134, No. 1, 2013.
  44. Bai, Y., H. Zhuang, and D. Wang, “Apply Fuzzy Interpolation Method to Calibrate Parallel Machine Tools,” Int. J. Advanced Manufacturing Technology, Vol. 60, No. 5, pp. 553-560, 2012.
  45.  Kotlarchyk, A., T. Khoshgoftaar, M. Pavlovic, H. Zhuang and A. S. Pandya“Identification of MicroRNA Biomarkers for Cancer by Combining Multiple Feature Selection Techniques,” J. Computational Methods in Science & Engineering, Vol. 11, No 5-6, pp. 283-298, 2011.
  46. Morales, G., H. Zhuang, and M. Pavlovic, “A Biologically Inspired Myelinated Neuron Axon Model using a System Identification Approach,” Med Data Review, online.
  47.  Pavlovic, M., M. Cavallo, A. Kats, A. Kotlarchyk, H. Zhuang, Y. Shoenfeld, “From Pauling’s Abzyme Concept to the New Era of Hydrolytic Anti-DNA Autoantibodies: A link to Rational Vaccine Design? A Review,” Int. J . Bioinformatics Research and Applications, Volume 7 Issue 3, pp. 220-238, August 2011.
  48.  Guan X. and H. Zhuang, “A Method of Creating 3-D Face Images from 2-D Photos for Face Recognition,” Int. J. Biometrics, Vol. 3, No. 1, pp. 40-55, 2011.
  49. Wang, X., D. Wang, H. Zhuang, and S. Morgera, “Fair energy-efficient resource allocation in wireless sensor networks over fading TDMA channels,” IEEE Journal on Selected Areas in Communications, Vol. 28, No. 7, pp. 1063-1072, Sept. 2010.
  50. Bai, Y. and H. Zhuang, “Automated biometric technology and its applications,” Special Issue Editorial, J. Intelligent Systems Technologies and Applications, Vol. 7, No. 3, pp. 241-242, 2009.
  51.  Huang, L., H. Zhuang and S. Morgera, "A Method towards Biometric Feature Fusion,” Int. J. Biometrics, Vol. 1, No. 4, pp. 479-494, 2009.
  52. Wang, X., I. Li, D. Wang, H. Zhuang and S. Morgera,  “Incorporating retransmission in quality-of-service guaranteed multi-user scheduling over wireless links,” IEEE T. Vehicular Technology, vol. 58, no. 8, pp. 4388-4397, Oct. 2009.
  53.  Huang, L., H. Zhuang and Sal Morgera, "A method for face recognition,” Int. J. Intelligent Systems Technologies and Applications, Vol. 7, No. 3, pp. 282-295, 2009.
  54. Kotlarchyk, A.J., A. Pandya, and H. Zhuang, “Simulation and experimental studies on fuzzy vault fingerprint cryptography,” J. Knowledge-Based Intelligent Engineering Systems, 12(5-6), 305-317, 2009.
  55. Meng, Y. and Zhuang, “Autonomous robot calibration using vision technology,” J. Robotics and Computer Integrated Manufacturing; Vo. 23, No. 4, August 2007, pp. 436-446.
  56. Zhuang, H., and S. Morgera, “Development of an undergraduate course -Internet-based instrumentation and control”, Int. J. Computer Education, Vol 49, pp. 330-344, 2007.
  57. Zhuang, H. and S. Wongsoontorn, “Design and tuning of fuzzy control surfaces with Bezier functions,” J. Intelligent Automation and Soft Computing, 2006.
  58.  Bai, Y. and H. Zhuang, “On the Comparison of fuzzy interpolation techniques for robotic position measurements,” IEEE Trans on Instrumentation and Measurement, Vol. 54, No.6, December 2005, pp. 2281 - 2288.
  59.  Bai, Y., H. Zhuang and Z.S. Roth, "Application of a fuzzy logic controller in suppression of noises and coupling effects for a laser tracking systems," IEEE Transactions on Control Systems Technology, Vol. 13, No.1, Jan. 2005, pp. 113-121.
  60. Meng Y., and H. Zhuang, "A method for computing lens distortion,” IEEE Robotics & Automation Magazine, Vol. 11, No. 4, Dec. 2004, pp. 123 - 128.
  61.  Zhuang, H., S.H. Motaghedi, Z.S. Roth, and Y. Bai, "Calibration of multi-beam laser tracking systems," J. Robotics and CIM, Vol. 19, 2003, pp. 301-314.
  62. Zhuang, H. and Y. Wang, “A m-law based fuzzy tuning,” J. Intelligent Automation and Soft Computing, Vol. 8, No. 1, 2002, pp. 1-14.
  63.  Meng, Y. and Zhuang, “Robot self-calibration with minimum ground truth data,” International Journal of Robotics Research, 2001, pp. 909-921.
  64.  Zhuang, H. and X. Wu, “Member function modification using histogram equalization,” IEEE Trans. System Man & Cybernetics, 2001, pp. 125-132.
  65. Zhuang, H., L. Liu and O. Masory, “Self-calibration of hexapod machine tools,” ASME J. Manufact. Science & Technology, Vol. 122, No. 1, 2000, pp. 140-148.
  66. Xie, X., R. Sudhakar and H. Zhuang, "A cascaded scheme for eye tracking and head movement compensation," IEEE Trans. Systems, Man, Cybernetics, Vol. 28, No. 4, 1998, pp. 487-490.
  67.  Zhuang, H., J. Yang, and O. Masory, “Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals,”  J. Robotics Systems, Vol. 15, No. 7, 1998, pp. 395-405.
  68.  Zhuang, H., “Hand/eye calibration for electronic assembly robots,” IEEE Trans. R&A, Vol. 14, No. 4, 1998, pp. 612-616. 
  69. Zhuang, H. and A. Melchinger, “Calibration of a hand/eye matrix and a connection matrix using relative pose measurements”, IEEE Trans. Systems, Man, Cybernetics, Vo. 28, No. 3, 1998, pp. 369-375.
  70. Zhuang, H., “A note on using only position equations for hand/eye calibration,” IEEE Trans. Systems, Man, & Cybernetics, Vol. 28, No. 3, 1998, pp. 426-427.
  71.  Zhuang, H., J. Wu and W. Huang, “Optimal planning of robot calibration experiment using Genetic algorithm,” J. Robotics Systems, Vol. 14, No. 10, 1997, pp. 741-752.
  72. Masory, O., J. Wang, and H. Zhuang, "On the accuracy of a Stewart platform,” Advanced Robotics, Vol. 11, No. 5, 1997, pp. 519-539.
  73.  Zhuang, H., “A note on hand-eye calibration,” Int. J. Robotics Research, Vol. 16, No. 5, Oct. 1997, pp. 725-727.
  74. Zhuang, H., “Self-calibration of parallel mechanism with a case study on Stewart platforms,” IEEE Trans. Robotics & Automation, Vol. 13, No. 3, June 1997, pp. 387-397.
  75.  Zhuang, H. and R. Sudhakar, “Simultaneous rotation and translation fitting of two sets of 3D points,” IEEE Trans. Systems, Man, Cybernetics, Vol. 27, No. 1, Feb. 1997, pp. 118-126.
  76.  Zhuang, H., and W.C. Wu, “Camera calibration with nearly-parallel (ill-conditioned) camera configurations,” IEEE Trans. Robotics & Automation, Vol. 12, No. 6, 1996, pp. 918-921.
  77.  Zhuang, H., W. C. Wu, and Z. S. Roth, “Camera-assisted robot calibration for SCARA arms,” IEEE Robotics & Automation Magzine, Vol. 3, No. 4, 1996, pp. 46-53.   
  78.  Zhuang, H., Z., S. Roth, “A note on singularity studies using a modified CPC model,” J. Robotics & CIM, Vol. 12, No. 2, 1996, pp. 169-171.
  79.  Zhuang, H. and Z. S. Roth, “A tutorial on robot calibration with hand-mounted cameras,” J. Intelligent Automation and Soft Computing, Vol. 1, No. 3, 1995, pp. 325-344 
  80. Zhuang, H. "A self-calibration approach to extrinsic parameter estimation of stereo cameras,” J. Robotics and Autonomous Systems, Vol. 15, 1995, pp. 189-197.   
  81.  Zhuang, H., Z., S. Roth, “A note on A linear solution to the kinematic parameter identification of robot manipulators,” IEEE Trans. Robotics & Automation, Vol. 11, No. 11, 1995, pp. 922.
  82.  Xie, X., R. Sudhakar and H. Zhuang, "Real-time eye tracking from a video image sequence using Kalman filter," IEEE Trans. Systems, Man and Cybernetics, Vol. 25, No. 12, Dec. 1995, pp. 1568-1577.
  83. Zhuang, H., L. Wang, and Z.S. Roth, "Simultaneous calibration of a robot and a hand-mounted monocular camera,”  IEEE Trans. Robot. & Automation, Vol. 11, No. 5, 1995, pp. 649-660.  
  84.  Zhuang H. and Z. S. Roth, "Modeling gimbal axis misalignments and mirror center offset in a single-beam laser tracking measurement system," Int. J. Robotics Research, Vol. 14, No. 3, June 1995, pp. 211-224.  
  85.  Zhuang, H., “A Note on single-scanline camera calibration,” IEEE Trans. Robot. & Automation, Vol. 11, No. 3, June 1995, pp. 470-471.
  86.  Zhuang, H., “A note on the use of identification Jacobian for robot calibration,” Int. J. Robotics Research, Vol. 14, No. 1, Feb. 1995, pp. 87-89.
  87.  Zhuang, H, R. Sudhakar, and J. Shieh, "Depth estimation from a sequence of images with known camera motion," Int. J. Robotics and Autonomous Systems, Vol. 13, 1994, pp. 87-95.
  88.  Zhuang, H. and Z. Qu, “A new Jacobian formulation for robotic hand/eye calibration,” IEEE Trans. Systems, Man & Cybernetics, Vol. 24, No. 8, 1994, pp. 1284-1287.
  89. Zhuang, H., Z.S. Roth, and R. Sudhakar, "Simultaneous robot/world and eye/hand calibration by solving homogeneous transformation equations of the form AX = YB,” IEEE Trans. Robotics & Automation, Vol 10., No. 4, Aug. 1994, pp. 549-554 
  90. Shieh, J., H. Zhuang, and R. Sudhakar, "Motion estimation from a sequence of stereo images: a direct method,” IEEE Trans. Systems, Man and Cybernetics, Vol 24, No. 7, July, 1994, pp.1044-1053.   
  91.  Xie, X., R. Sudhakar and H. Zhuang, "On improving eye feature extraction using deformable templates," Pattern Recognition, Vol. 27, No. 6, 1994.
  92.  Zhuang, H., Z. S. Roth, X. Xu, and K. Wang, "Camera calibration issues in robot calibration with eye-on-hand configurations,” Robotics & Computer Integrated Systems, Vol 10, No. 6, 1993, pp. 401-412.   
  93. Zhuang H., Z. S. Roth and F. Hamano, "Optimal design of robotic accuracy compensators", IEEE Trans. Robotics & Automation, Vol. 9, No. 6 December 1993, pp. 854-857. 
  94.  Zhuang, H., Z. S. Roth, and K. Wang, "Robot calibration by mobile camera system," J. Robotic Systems, Vol. 11, No. 3, 1994, pp. 155-168.   
  95.  Zhuang, H. and Y. Shiu, "A noise-insensitive algorithm for robotic hand/eye calibration with or without sensor orientation measurement," IEEE Trans. Systems, Man and Cybernetics, Vol. 23, No. 4, 1993, pp. 1168-1174.  
  96.  Zhuang, H. and Z. S. Roth, "A linear solution to kinematic parameter identification for robot manipulators," IEEE Trans. Robotics & Automation, Vol. 9, No. 2, 1993, pp. 174-185.  
  97. Zhuang, H., K. Wang, and Z.S. Roth, "Error-model-based robot calibration using a modified CPC model," Int. J. Robotics and Computer-Integrated Manufacturing, Vol. 10, No. 4, 1993, pp. 287-299.
  98.  Xie, X., R. Sudhakar and H. Zhuang, "Corner detection by a cost minimization approach," Pattern Recognition, 26:8, 1993.
  99. Qu, Z. and H. Zhuang, "Nonlinear learning control of robot manipulators without requiring acceleration measurement," Int. J. Adaptive Control & Signal Processing, Vol. 7, 1993, pp. 77-90.
  100. Zhuang, H. and Z. S. Roth, "A method for kinematic calibration of Stewart platforms," J. Robotics Systems, Vol. 10, No. 3, April 1993, pp. 391-405. 
  101. Zhuang, H., Z. S. Roth, and R. Sudhakar, "Fusion algorithms for rotation matrices," J. Robotic Systems, Vol. 9, No. 7, Oct. 1992, pp. 915-932.
  102.  Zhuang, H., Z. S. Roth and F. Hamano, "A complete and parametrically continuous kinematic model," IEEE Trans. Robotics & Automation, Vol. 8, No. 4, Aug. 1992, pp. 451-463.
  103. Zhuang, H. and Z. S. Roth, "Comments on 'Calibration of wrist-mounted robotic sensors by solving homogeneous transformation equations of the form AX =XB'," IEEE Trans. Robotics & Automation, Vol. 7, No. 6, Dec. 1991, pp.877-878.
  104.  Zhuang H. and Z. S. Roth, "Robot calibration using the CPC error model", Int. J. Robotics and Computer-Integrated Manufacturing, Vol. 9, No. 3, Sept. 1992, pp. 227-237.
  105. Zhuang, H., B. Li, Z. S. Roth and Xangdong Xie, "Self-calibration and mirror center offset elimination of a multi-beam laser tracking system," Int. J. Robotics and Autonomous Systems, 9(1992) pp. 255-269 
  106. Zhuang, H., Z. S. Roth and F. Hamano, "Observability issues in kinematic error parameter identification of manipulators," ASME Trans. Dynamic Systems, Meas. & Control, Vol. 114, June 1992, pp. 319-322.    

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