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郑联语 Lianyu Zheng

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郑联语     Lianyu ZHENG

出生年月

196704

籍贯

江西南昌

职称

教授 

学历

博士 

电话

+86-10-82317725

办公室

新主楼A512

系别

工业与制造系统工程 

职务

系主任

电子信箱

lyzheng@buaa.edu.cn

传真

个人主页

学习经历

1985/09-  1989/07:北京航空航天大学机械工程及自动化学院本科生
 1990/09- 1993/03
:北京航空航天大学机械工程及自动化学院硕士研究生
 1997/09- 2001/07
:北京航空航天大学机械工程及自动化学院博士研究生
 2006/10- 2007/10
:英国巴斯大学(University of Bath)机械工程系访问学者

2007/07-2007/08:英国克兰菲尔德大学(Cranfield University)航空学院高级学员

工作经历

1993/04-  1994/07:北京航空航天大学机械工程及自动化学院,助教
 1994/08- 1999/07
:北京航空航天大学机械工程及自动化学院,讲师
 1999/08- 2009/07
:北京航空航天大学机械工程及自动化学院,副教授
 2002/03-2002/06
:香港城市大学制造工程与工程管理系, 副研究员
 2009/08-
至今 :北京航空航天大学机械工程及自动化学院教授,博士生导师

研究领域

1.数字化与智能制造技术;  2.可重构柔性智能工装技术; 3. 制造建模与仿真技术。

荣誉及奖励

2016年 获批第二批来华留学生精品课《先进制造技术》;

2016年 《计量学报》2011-2015年优秀论文;
 2015
年 《航空学报》20年(1995-2015)高被引论文奖;
 2014
年 北航教学成果一等奖;
 2013
年 北航优秀硕士论文指导教师;
 2010
年 北航教学成果二等奖;
 2009
年 成飞奖教金一等奖;
 2008
年 国防科技进步二等奖;
 2008
年 航空工业第一集团公司科技进步二奖;
 2004
年 北航教学成果三等奖;
 2003
年 北京市青年优秀论文三等奖;
 1997
年 原航空工业总公司(部级)科技进步三等奖

开授课程与指导研究生

1. 主讲本科生必修课《计算机辅助制造》(北航精品课);
 2.
主讲研究生学位课《制造系统建模与仿真》;
 3.
指导研究生:硕士研究生2-3/年、博士生1-2/年,以及留学生和工程硕士生等。
毕业研究生主要去向:航空航天研究所/企业、知名信息技术企业、外企、国外高校,主要从事研发、策划和咨询工作。

教学及科研成果

郑联语教授多年来一直从事数字化与智能制造、柔性智能工艺装备、先进测量与质量控制、制造系统建模与仿真等方向的研究及教学工作。在科研方面,在国内外核心期刊和国内国际会议上发表论文100余篇,曾获《航空学报》20(1995-2015)高被引论文奖,《计量学报》(2011-2015)优秀论文奖;北京市青年优秀论文奖。作为主编或编委合著  《计算机辅助设计与制造》(机械工业出版社)、《机床数字控制技术手册》(国防工业出版社)和《MasterCAM 8.0基础教程》(人民邮电出版社)。曾主持和承担国家、航空及国防基金、国防预研、国防基础科研、国防技术基础、国家科技支撑、国家863等各类重要项目10余项,以及多项与中国商飞、中航工业、航天科技、航天科工、长春一汽等大型国有企业的厂所合作项目。获部级科技进步二、三等奖各1项,软件著作权8项,申请和授权发明专利10余件;在教学方面,主讲本科生必修课《计算机辅助制造》(北航精品课)、研究生学位课《现代制造系统建模与仿真》,指导和培养中外硕士、博士研究生近60名。曾获北航成飞奖教金一等奖1项,北航教学成果一、二、三等奖各1项,北航优秀研究生指导教师。

近期承担的代表性科研项目:

[1]大部件装配界面分体式互操作自适应精加工理论与应用基础。国家自然科学基金。主持。

[2].盒式连接XXXX智能装配工装技术。XXX基础科研项目,主持。

[3].面向大型XXX机构装配现场的可穿戴技术。XXX基础科研项目,主持。

[4].飞机典型制造车间智能管控技术。工信部民机科研项目,专题负责人。

[5].基于虚拟现实/增强现实的智能化辅助装配技术。工信部民机科研项目,参与。
 [6].
国产专用数控系统(工艺规划与仿真)。航天科工集团北京航天数控公司项目(04专项),参与。
 [7].
基于场模型与关键特性的大尺寸球坐标测量系统优化配置方法。国家自然科学基金,主持。
 [8].
多平台高节拍汽车车体柔性焊装生产线关键技术及设备。国家科技支撑项目,参与。
 [9].
大飞机垂尾精加工台与可重构机床关键技术。上飞/江苏恒力组合机床公司协作项目,主持。
     

发表的代表性论著:

[1] Yong Zhou,Jian-Jun Yang,Lianyu Zheng.Multi-agent based  hyper-heuristics for multi-objective flexible job shop scheduling: A case  study in an aero-engine blade manufacturing plant. Feb 2019,IEEE Access.DOI  0.1109/ACCESS.2019.2897603.

[2] Yong Zhou,Jian-Jun Yang,Lianyu Zheng. Hyper-heuristic  coevolution of machine assignment and job sequencing rules for  multi-objective dynamic flexible job shop scheduling. Nov 2018,IEEE Access.

[3] Yahui Wang, Lianyu Zheng,Yu Hu, Wei Fan.MULTI-SOURCE  HETEROGENEOUS DATA COLLECTION AND FUSION FOR MANUFACTURING WORKSHOP BASED ON  COMPLEX EVENT PROCESSING.48th International Conference on Computers and  Industrial Engineering (CIE 48), Auckland, New Zealand, Dec. 2-5, 2018.

[4] Wei Fan,Lianyu Zheng,Yahui Wang. An automated reconfigurable  flexible fixture for aerospace pipeline assembly before welding.  International Journal of Advanced  Manufacturing Technology, 2018,  https://doi.org/10.1007/s00170-018-2120-9.

[5] Wei Fang, Lianyu Zheng. Rapid and robust initialization for monocular  visual inertial navigation within multi-state Kalman filter. Chinese Journal  of Aeronautics,2018,31(1):148-160.

[6] Pei Lei, Lianyu Zheng, Lihui Wang, et al. MTConnect  compliant monitoring for finishing assembly interfaces of large-scale  components: A vertical tail section application. Journal of Manufacturing  Systems. 2017, 45: 121–134. http://dx.doi.org/10.1016/j.jmsy.2017.09.001

[7] Wei Fang, Lianyu Zheng, Xiangyong Wu. Multi-sensor based  real-time 6-DoF pose tracking for wearable augmented reality. Computers in  Industry, 2017, 92:91–103. http://dx.doi.org/10.1016/  j.compind.2017.06.002

[8] Wei Fang, Lianyu Zheng, Jiaxing Xu. Self-contained  optical-inertial motion capturing for assembly planning in digital factory.  International Journal of Advanced  Manufacturing Technology, 2017, DOI:  10.1007/s00170-017-0526-4.

[9]Wei Fang, Lianyu Zheng, Huanjun Deng and Hongbo Zhang.  Real-Time Motion Tracking for Mobile Augmented/Virtual Reality Using Adaptive  Visual-Inertial Fusion. Sensors 2017, 17(5), 1037; doi:10.3390/s17051037
 [10] Pei Lei, Lianyu ZHeng. An automated in-situ alignment approach for  finish machining assembly interfaces of large-scale components.Robotics and  Computer Integrated Manufacturing,2017
DOI10.1016/j.rcim.2017.01.004
 [11] Pei Lei, Lianyu ZHeng, et at. A closed-loop machining system for  assembly interfaces of large-scale component based on extended  STEP-NC.International Journal of Advanced Manufacturing Technology. 2017
DOI: 10.1007/s00170-016-9904-6
 [12] Wei Fang, Lianyu Zheng, et al. Automatic 3D Model Acquisition for  Unknown Objects based on Hybrid Vision.International Journal of Precision  Engineering and Manufacturing. 2017
183):275-284.

[13]Wei Fang, Lianyu Zheng, Xusheng Zhu. A motion tracking  method by combining of IMU and camera in mobile devices. International  Conference on Sensor Technology, November,2016, Nanjing, China.
 [14] Hongbo Zhang, Lianyu Zheng, Xiwei Chen, Haiji Huang. A Novel  Reconfigurable Assembly Jig Based on Stable Agile Joints and Adaptive  Positioning-Clamping Bolts. 6th CIRP Conference on Assembly Technologies and  Systems (CATS). Procedia CIRP 44 (2016): 316
321
 [15] Zhu Xusheng, Zheng Lianyu, Tang Xiaojun. Configuration optimization of laser  tracker stations for large-scale components in non-uniform temperature field  using Monte-Carlo method[C]. 9th CIRP International Conference on Digital  Enterprise Technology - DET 2016
– “Intelligent  Manufacturing in the Knowledge Economy Era. Nanjing, China, 2016.
 [16] Pei Lei
Lianyu Zheng, Chao LiXichun Li. MTConnect enabled interoperable monitoring system for  finish machining assembly interfaces of large-scale components. 9th CIRP  International Conference on Digital Enterprise Technology - DET 2016 –  “Intelligent Manufacturing in the Knowledge Economy Era.  Nanjing, China, 2016.
 [17] A complete CAD/CAM/CNC solution for STEP-NC enabled manufacturing,  Robotics and Computer Integrated Manufacturing, 2015
31):1-10

[18] 张宏博,郑联语*,刘新玉,李树飞等。基于信息物理系统的可重构装配型架智能装调技术.计算机集成制造系统,2019,已录用.

[19] 秦兆君,郑联语*,张宏博,徐嘉兴.可重构柔性型架的智能装调与监测系统开发及应用.航空制造技术,2018.

[20] 樊伟,郑联语,王亚辉. 管路组件可重构装配工装系统的定位器自动配置与性能分析[J]. 航空学报, 2018, 39(5): 42198.

[21] 樊伟,郑联语,王亚辉. 面向管路组件装配的自动化可重构柔性工装系统[J]. 计算机集成制造系统, 2018,24(11).

[22] 雷沛,郑联语。面向飞机大部件调姿的PPPS机构球铰点中心位置闭环标定方法.航空学报,20163710):3186-3196

[23] 陈锡伟,郑联语,张宏博. 关联设计技术在翼面类部件可重构装配型架设计中的应用研究。航空制造技术,2017年第11期:46-51

[24] 曹逸凡,郑联语,张宏博. 智能眼睛辅助的激光跟踪仪移动测量系统。航空制造技术,201720:60-66.

[25] 基于综合工装的盒式连接装配型架快速配置方法. 计算机集成制造系统, 2014,2010):2426-2439

[26] 盒式连接可重构柔性工装技术及发展展望.航空制造技术,2013 (18)28-33

[27] A novel algorithm of posture best fit based on key  characteristics for large components assembly. Procedia CIRP 10, 2013,  162-168.

[28] 大尺寸测量技术在航空制造中的应用及关键技术. 航空制造技术,2013 (07)30-33

[29] 基于关键装配特性的大型零部件最佳位姿多目标优化算法. 航空学报. 2012(09)171-181

[30] 基于STEP-NC的闭环加工系统研究与实现. 计算机集成制造系统,2011,17(11):2389-2398

[31]产品族工装配置技术研究与实现. 计算机集成制造系统,2011173):585-594

[32] Key characteristics management in product lifecycle  management: A survey of methodologies and practices. Proceedings of the  Institution of Mechanical Engineers Part BJournal of  Engineering Manufacture,2008222B8):989-1008.

[33]Systematic modeling and reusing of process knowledge for  rapid process configuration. Robotics and Computer Integrated  Manufacturing,2008246):763-772.

[34]薄壁零件数控加工工艺质量改进方法. 航空学报,2001225):425-42

学术与社会服务

国际智能制造学报(Journal  of Intelligent Manufacturing, JIM)编委;

数字化设计与制造北京市重点实验室学术委员会委员;

中国机械工程学会机械工业自动化分会委员;
中国机械工程学会成组与智能集成技术分会委员;

中国人工智能学会智能制造专业委员会委员;

中国自动化学会制造技术专业委员会委员;

《计算机集成制造系统》理事;

中航工业柔性智能工艺装备研制中心学术委员会委员兼副主任;
中国机械工程学会高级会员;国家自然科学基金、中国博士后基金、航空基金、各类国家级项目评审专家;《计算机集成制造系统》、《机械工程学报》、《航空学报》以及《Robotics and Computer Integrated Manufacturing》、《Journal of Manufacturing System》、《Journal  of Intelligent Manufacturing》、《Assembly Automation》等期刊长期审稿人。

 

Curriculum Vitae  (CV)

u  Education experience

1985/09-1989/07bachelor's degree in Mechanical  Engineering, Beihang university

1990/09-1993/03master's degree in Mechanical  Engineering, Beihang university

1997/09-2001/07PH.D in Mechanical Engineering , Beihang  University

2007/07-2007/08professional course entitled “Design and  manufacturing technologies for commercial airplane”, Cranfield University,  United Kingdom

u  Work experience

1993/04-1994/07Assistant Lecturer, Department of  Manufacturing Engineering, Beihang University, China

1994/08-1999/07Lecturer, Department of Manufacturing Engineering,  Beihang University, China

1999/08-2009/07Associate Professor, School of  Mechanical Engineering and Automation, Beihang University, China

2002/04-2002/06Senior Research Associate (SRA), Department  of Manufacturing Engineering and Engineering Management, City University of Hong  Kong, China

2006/10-2007/09: Visiting Scholar, Department of Mechanical  Engineering, University of Bath, United Kingdom

2009/08-present Professor, School of Mechanical  Engineering and Automation, Beihang University, China

u  Teaching Courses

u  Computer  Aided Manufacturing (for undergraduate students)

u  Modeling  and Simulation for Manufacturing Systems (for graduate students)

u  Supervisor  of graduate students: more than 50 master science degree students8 PhD  students5 master engineering students2 foreign MSc student  (Suffi)

u  Research Areas

Currently  research interests include digital and intelligent manufacturing (CAD/CAPP/CAM/CNC,  reconfigurable  and flexible smart manufacturing system, dimension metrology and quality  control, and manufacturing system modeling and simulation, Digital and smart  Factory. He has published more than 100 papers in which include a number of  international journal and conference papers. 8 software copyrights and 12  patents have been authorized by State Intelligent Property office of P. R.C  (SIPO).

Professor  Lianyu Zheng is currently the Head of Department of Industrial and  Manufacturing Systems Engineering, Biehang University, School of Mechanical  Engineering and Automation, Beihang University(BUAA). He is a member of Editorial  Board of Journal of Intelligent Manufacturing, a senior member of Chinese  Society of Mechanical Engineering (CSME), the academic member of Mechanical  Automation Committee of CSME, the academic member of Group Technology and  Intelligence Integration Committee of CSME, the academic member of  Intelligent Manufacturing Committee of Chinese Society of Artificial  Intelligenceas well as the academic member of the Key Lab of Advanced  Assembly Technology and of the Development Center of flexible and intelligent  tooling of AVIC(Chinese Aviation Industry Company). As reviewer or expert he has  been working for a number of international journals (Journal of Intelligent  Manufacturing; International Journal of Computer Integrated Manufacturing;  IMech Part B: Journal of Engineering Manufacturing, etc) and a number of  national journals including Computer Integrated Manufacturing System, Acta  Aeronautica et Astronautica Sinica (AAAS) and Chinese Journal of Aeronautics  (CJA), etc.

u  Representative Publications

[1] Yong Zhou,Jian-Jun Yang,Lianyu Zheng.Multi-agent based  hyper-heuristics for multi-objective flexible job shop scheduling: A case  study in an aero-engine blade manufacturing plant. Feb 2019,IEEE Access.DOI  0.1109/ACCESS.2019.2897603.

[2] Yong Zhou,Jian-Jun Yang,Lianyu Zheng. Hyper-heuristic  coevolution of machine assignment and job sequencing rules for  multi-objective dynamic flexible job shop scheduling. Nov 2018,IEEE Access.

[3] Yahui Wang, Lianyu Zheng,Yu Hu, Wei Fan.MULTI-SOURCE  HETEROGENEOUS DATA COLLECTION AND FUSION FOR MANUFACTURING WORKSHOP BASED ON  COMPLEX EVENT PROCESSING.48th International Conference on Computers and  Industrial Engineering (CIE 48), Auckland, New Zealand, Dec. 2-5, 2018.

[4] Wei Fan,Lianyu Zheng,Yahui Wang. An automated reconfigurable  flexible fixture for aerospace pipeline assembly before welding.  International Journal of Advanced  Manufacturing Technology, 2018,  https://doi.org/10.1007/s00170-018-2120-9.

[5] Wei Fang, Lianyu Zheng. Rapid and robust initialization for  monocular visual inertial navigation within multi-state Kalman filter.  Chinese Journal of Aeronautics,2018,31(1):148-160.

[6] Pei Lei, Lianyu Zheng, Lihui Wang, et al. MTConnect  compliant monitoring for finishing assembly interfaces of large-scale  components: A vertical tail section application. Journal of Manufacturing  Systems. 2017, 45: 121–134. http://dx.doi.org/10.1016/j.jmsy.2017.09.001

[7] Wei Fang, Lianyu Zheng, Xiangyong Wu. Multi-sensor based  real-time 6-DoF pose tracking for wearable augmented reality. Computers in  Industry, 2017, 92:91–103. http://dx.doi.org/10.1016/ j.compind.2017.06.002

[8] Wei Fang, Lianyu Zheng, Jiaxing Xu. Self-contained  optical-inertial motion capturing for assembly planning in digital factory.  International Journal of Advanced  Manufacturing Technology, 2017, DOI:  10.1007/s00170-017-0526-4.

[9]Wei Fang, Lianyu Zheng, Huanjun Deng and Hongbo Zhang.  Real-Time Motion Tracking for Mobile Augmented/Virtual Reality Using Adaptive  Visual-Inertial Fusion. Sensors,  2017, 17(5), 1037; doi:10.3390/s17051037
 [10] Pei Lei, Lianyu Zheng. An automated in-situ alignment approach for  finish machining assembly interfaces of large-scale components. Robotics and  Computer Integrated Manufacturing, 2017
DOI10.1016/j.rcim.2017.01.004
 [11] Pei Lei, Lianyu Zheng, et at. A closed-loop machining system for  assembly interfaces of large-scale component based on extended STEP-NC. International  Journal of Advanced Manufacturing Technology. 2017
DOI:  10.1007/s00170-016-9904-6
 [12] Wei Fang, Lianyu Zheng, et al. Automatic 3D Model Acquisition for  Unknown Objects based on Hybrid Vision. International Journal of Precision  Engineering and Manufacturing. 2017
18(3):275-284.

[13]Wei Fang, Lianyu Zheng, Xusheng Zhu. A motion tracking  method by combining of IMU and camera in mobile devices. International  Conference on Sensor Technology, November,2016, Nanjing, China.
 [14] Hongbo Zhang, Lianyu Zheng, Xiwei Chen, Haiji Huang. A Novel  Reconfigurable Assembly Jig Based on Stable Agile Joints and Adaptive  Positioning-Clamping Bolts. 6th CIRP Conference on Assembly Technologies and  Systems (CATS). Procedia CIRP 44 (2016): 316
321
 [15] Zhu Xusheng, Zheng Lianyu, Tang Xiaojun. Configuration optimization of  laser tracker stations for large-scale components in non-uniform temperature  field using Monte-Carlo method[C]. 9th CIRP International Conference on  Digital Enterprise Technology - DET 2016
Intelligent Manufacturing in  the Knowledge Economy Era. Nanjing, China, 2016.
 [16] Pei Lei
Lianyu Zheng, Chao LiXichun Li. MTConnect enabled  interoperable monitoring system for finish machining assembly interfaces of  large-scale components. 9th CIRP International Conference on Digital  Enterprise Technology - DET 2016 Intelligent Manufacturing in  the Knowledge Economy Era. Nanjing, China, 2016.
 [17] Fang Wei, Zheng, Lianyu. Distortion Correction Modeling Method for Zoom  Lens Cameras with Bundle Adjustment. JOURNAL OF THE OPTICAL SOCIETY OF KOREA,  2016, 20 (1): 140-149
 

[18] Xiao wenlei, Zheng Lianyu, et al. A complete CAD/CAM/CNC  solution for STEP-NC enabled manufacturing, Robotics and Computer Integrated  Manufacturing, 201531):1-10

[19]. Lei Pei, Zheng Lianyu. Closed-loop calibration method of  PPPS mechanism ball joint center position for posture adjustment of large  aircraft components. Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica,  2016, v 37, n 10, p 3186-3196;

[20] Zheng Lian-Yu; Liu Qing-Jun; Zhang Hong-Bo. Rapid  configuration for box-joint assembly jigs based on composite tooling . Jisuanji  Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, 2013,v  20, n 10, p 2426-2439.

[21] Zheng Lianyu, Zhu Xusheng, et al. A novel algorithm of  posture best fit based on key characteristics for large components assembly.  Procedia CIRP 10, 2013, 162-168.

[22] Zhu, Xusheng, Zheng, Lianyu. Multiple-objective  optimization algorithm based on key assembly characteristics to posture best  fit for large component assembly. Hangkong Xuebao/Acta Aeronautica et  Astronautica Sinica, 2012,v 33, n 9, p 1726-1736

[23]Zheng, L.-Y., Liang, D.-W., Lei, P. Research and implementation of  closed-loop machining technology based on STEP-NC. Jisuanji Jicheng Zhizao  Xitong/Computer Integrated Manufacturing Systems, CIMS. 2011,Volume  17, Issue 11, November 2011, Pages 2389-2398

[24] Zheng, L.-Y.,  Ji, L. Research and  implementation of tooling configuration for product family. Jisuanji Jicheng Zhizao  Xitong/Computer Integrated Manufacturing Systems, CIMS. Volume 17,  Issue 3, March 2011, Pages 585-594

[25] Ni A.-J., Zheng L.Y. Optimal  configuration method for large-scale measurement systems based on form error  uncertainty Jiliang Xuebao/Acta Metrologica  Sinica. Volume 32, Issue 4, July 2011, Pages 289-295.

[26] Key characteristics management in product lifecycle  management: A survey of methodologies and practices. Proceedings of the  Institution of Mechanical Engineers Part BJournal of Engineering  Manufacture,2008222B8):989-1008.

[27]Systematic modeling and reusing of process knowledge for  rapid process configuration. Robotics and Computer Integrated Manufacturing,2008246):763-772.

[28] Zheng, L.-Y., Wang, S.-C. Approaches to  improve the process quality of thin-walled workpiece in NC machining.Hangkong Xuebao/Acta Aeronautica  et Astronautica Sinica. Volume 22, Issue 5, September 2001, Pages  424-428

 

u  Awards

l   1997 Progressive Science and Technology Award (the third  grade)from Chinese Aviation Industry Company

l   2003 Excellent Youth Paper Award (the third grade) from the  Beijing Society of Science and Technology

l   2008 Progressive Science and Technology Award (the second grade)  from the Ministry of Industry and Information Technology (MIIT) of China.

l   2008 Progressive Science and Technology Award (the second grade)  from Chinese Aviation Industry Company .

l   2010 Excellent Teaching Achievement (the second grade), Awarded  by Beihang University

l   2013 Excellent Supervisor of MSc thesis, awarded by Beihang  University

l   2014 Excellent Teaching Achievement (the first grade), Awarded  by Beihang University

l   2015 High Cited paper of Acta Aeronautica Et Astronautica Sinica

l   2016 Excellent Paper of Acta Metrogia Sinaica

l   2016 Excellent Course for Foreign Students Introduction  to Advanced Manufacturing Technology

u  Main software copyrights and patents

Software:

[1] Knowledge System for Process Failure Mode and Effect  AnalysisPFMEA. Copyright No: 2005SRBJ0305

[2] Registration System of Manufacturing Metadata. Copyright No:  2006SRBJ0907

[3] Visual Process Planning System V1.0VISPP.  Copyright No: 2008SRBJ0882

[4] Rapid Configuration and Management System of Tooling  Resource for Product FamilyRTCMS. Copyright No: 2010SRBJ0098

[5] Integrated Large-Volume Measurement Software System (ILVMS).  Copyright No:2012SR015505

[6] Design System for Box-joint based Reconfigurable Tooling.  Copyright No: 2013SR059108

[7] Process and Fixture Design Software for Body-In-White  Assembly and Welding. Copyright No: 2014SR181801

[8] Intelligent adjusting and monitoring for Box-joint based  Reconfigurable Tooling.Copyright No 12018R11L112366

Patents

[1] A best fit algorithm for large component assembly posture. Application No201110053699.4Application  date2011.03.07

[2] A reconfigurable tooling for multiple tubes assembly and  welding. Application No: 201110279402.6, Patent NoZL  2011 1 0279402.6

[3] An automatic configuration method and system of  reconfigurable tooling for tubes assembly and welding.  Application No201110444781.X, Patent NoZL 2011 1  0444781.X  

[4] A robot posture algorithm for flexible tube assembly and  welding based on vision measurement data. Application No2014107377530.  Patent NoZL 2014 1 07377530

[5] A cutting position algorithm of tube allowance for flexible  assembly and welding. Application No2014107303895

[6] A automatic spots grouping method for body-in-white based on  sphere interference. Application No2014107302680

[7] Measurement network construction for assembly interfaces  machining of large-scale components. Application No201510641527.7

[8] Mobile controlling method and system for Laser tracker using  smart glass.  ZL 2016 1 0610104.3