发表论文
[1] Gao, Zishu, Yang, Guodong, Li, En, Liang, Zize, Guo, Rui. Efficient Parallel Branch Network With Multi-Scale Feature Fusion for Real-Time Overhead Power Line Segmentation. IEEE SENSORS JOURNAL[J]. 2021, 21(10): 12220-12227, http://dx.doi.org/10.1109/JSEN.2021.3062660.[2] Yang, Lei, Fan, Junfeng, Liu, Yanhong, Li, En, Peng, Jinzhu, Liang, Zize. Automatic Detection and Location of Weld Beads With Deep Convolutional Neural Networks. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT[J]. 2021, 70: http://dx.doi.org/10.1109/TIM.2020.3026514.[3] Long, Teng, Li, En, Hu, Yunqing, Yang, Lei, Fan, Junfeng, Liang, Zize, Guo, Rui. A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS[J]. 2021, 32(2): 841-852, http://dx.doi.org/10.1109/TNNLS.2020.2979600.[4] Minghao Chen, Yunong Tian, Shiyu Xing, Zhishuo Li, En Li, Zize Liang, Rui Guo. Environment Perception Technologies for Power Transmission Line Inspection Robots. JOURNAL OF SENSORS[J]. 2021, 2021: https://doaj.org/article/cd46e601fc1c4691951ab22de50630ad.[5] Gao, Zishu, Li, En, Wang, Zhe, Yang, Guodong, Lu, Jiwu, Ouyang, Bo, Xu, Dawei, Liang, Zize. Object Reconstruction Based on Attentive Recurrent Network from Single and Multiple Images. NEURAL PROCESSING LETTERS[J]. 2021, 53(1): 653-670, http://dx.doi.org/10.1007/s11063-020-10399-1.[6] Li En. Novel Detector Modified by Feature Fusion Module for Small Insulator Defect Detection. IEEE Sensors Journal. 2021, [7] Mingrui Luo, En Li, Rui Guo, Jiaxin Liu, Zize Liang. End-Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor. JOURNAL OF SENSORS[J]. 2021, 2021: https://doaj.org/article/5f05a0e1e3394b128ffc092b5d88aef1.[8] Gao, Zishu, Yang, Guodong, Li, En, Liang, Zize. Novel Feature Fusion Module-Based Detector for Small Insulator Defect Detection. IEEE SENSORS JOURNAL[J]. 2021, 21(15): 16807-16814, http://dx.doi.org/10.1109/JSEN.2021.3073422.[9] Gao, Zishu, Yang, Guodong, Li, En, Liang, Zize, IEEE. Learning Single-view Object Reconstruction with Scaling Volume-View Supervision. 2020 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)null. 2020, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000626021404034.[10] Yang, Lei, Fan, Junfeng, Liu, Yanhong, Li, En, Peng, Jinzhu, Liang, Zize. A Review on State-of-the-Art Power Line Inspection Techniques. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT[J]. 2020, 69(12): 9350-9365, http://dx.doi.org/10.1109/TIM.2020.3031194.[11] Li En. Automatic Detection and Location of Weld Beads With Deep Convolutional Neural Network. IEEE Transactions on Instrumentation and Measurement. 2020, [12] Tian, Yunong, Yang, Guodong, Wang, Zhe, Li, En, Liang, Zize. Instance segmentation of apple flowers using the improved mask R-CNN model. BIOSYSTEMS ENGINEERING[J]. 2020, 193(193): 264-278, http://dx.doi.org/10.1016/j.biosystemseng.2020.03.008.[13] Xu, Dawei, Li, En, Liang, Zize, Gao, Zishu. Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS[J]. 2020, 99(2): 211-228, https://www.webofscience.com/wos/woscc/full-record/WOS:000507681800001.[14] Yunong Tian, Guodong Yang, Zhe Wang, En Li, Zize Liang. Detection of Apple Lesions in Orchards Based on Deep Learning Methods of CycleGAN and YOLOV3-Dense. Journal of Sensors[J]. 2019, 2019(2019): 1-13, https://doaj.org/article/a62970a6b96a4312870ed0b12342b508.[15] Wang, Han, Li, En, Yang, Guodong, Guo, Rui, IEEE. Design of An Inspection Robot System with Hybrid Operation Modes for Power Transmission Lines. 2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)null. 2019, 2571-2576, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000539085600449.[16] Sun, Yuansong, Li, En, Yang, Guodong, Liang, Zize, Guo, Rui, IEEE. Design of a Dual-core Processor Based Controller with RTOS-GPOS Dual Operating System. 2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)null. 2019, 1859-1864, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000539085600326.[17] Li En. Apple detection at different growth stages in orchards based on improved YOLO-V3 model. Computers and Electronics in Agriculture. 2019, [18] Wang, Hao, Yang, Guodong, Li, En, Tian, Yunong, Zhao, Meng, Liang, Zize, IEEE, Fu, M, Sun, J. High-Voltage Power Transmission Tower Detection Based on Faster R-CNN and YOLO-V3. PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC)null. 2019, 8750-8755, [19] Liang Zize. A novel 3D path teaching system for arc welding robot based on stereo structured light sensor. IEEE Sensors Journal. 2019, [20] Yang, Lei, Li, En, Fan, Junfeng, Long, Teng, Liang, Zize. Automatic extraction and identification of narrow butt joint based on ANFIS before GMAW. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY[J]. 2019, 100(1-4): 609-622, https://www.webofscience.com/wos/woscc/full-record/WOS:000455946000052.[21] Zishu Gao, Guodong Yang, En Li, Tianyu Shen, Zhe Wang, Yunong Tian, Hao Wang, Zize Liang. Insulator Segmentation for Power Line Inspection Based on Modified Conditional Generative Adversarial Network. Journal of Sensors[J]. 2019, 2019: 8-, http://gooa.las.ac.cn/external/index?type=-1&pid=1517628.[22] Yang, Lei, Li, En, Long, Teng, Fan, Junfeng, Liang, Zize. A High-Speed Seam Extraction Method Based on the Novel Structured-Light Sensor for Arc Welding Robot: A Review (vol 18, pg 8631, 2018). IEEE SENSORS JOURNAL. 2019, 19(4): 1590-1590, http://ir.ia.ac.cn/handle/173211/25271.[23] Yang, Lei, Li, En, Long, Teng, Fan, Junfeng, Liang, Zize. A Novel 3-D Path Extraction Method for Arc Welding Robot Based on Stereo Structured Light Sensor. IEEE SENSORS JOURNAL[J]. 2019, 19(2): 763-773, [24] Junfengfan, Leiyang, Enli, Tenglong, Zizeliang. A High-Speed Seam Extraction Method Based on the Novel Structured-Light Sensor for Arc Welding Robot. IEEE Sensors Journal[J]. 2018, 18(21): 8631-8641, http://ir.ia.ac.cn/handle/173211/23506.[25] Zishu Gao, En Li, Lei Yang, Zize Liang. Pipeline Scene Reconstruction Based on Image Mosaicing. 2018, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZLL201807004038&DbName=CPFDLAST2018&DbCode=CPFD&yx=&pr=&URLID=&bsm=.[26] 李恩, 梁自泽, 范俊峰, 杨磊, 龙腾, 杨国栋. 基于PSO非均匀样条插值的混合结构柔性臂抑振轨迹规划. 控制与决策[J]. 2018, 33(6): 978-988, http://lib.cqvip.com/Qikan/Article/Detail?id=675429839.[27] Gao Zishu, Li En, Yang Lei, Liang Zize, Chen X, Zhao QC. Pipeline Scene Reconstruction Based on Image Mosaicing. 2018 37TH CHINESE CONTROL CONFERENCE (CCC)null. 2018, 5322-5327, [28] Li En. Design of the state estimator for hybrid structure flexible manipulator based on SDFT and FLAKF. Assembly Automation. 2018, [29] Long, Teng, Li, En, Yang, Lei, Fan, Junfeng, Lian, Zize. Analysis and Design of an Effective Light Interference Methane Sensor Based on Three-Dimensional Optical Path Model. JOURNAL OF SENSORS[J]. 2018, 2018(2018): http://ir.ia.ac.cn/handle/173211/23523.[30] Long, Teng, Li, En, Fan, Junfeng, Yang, Lei, Liang, Zize. Design of the tip state estimator for hybrid-structured flexible manipulator based on SDFT and FLAKF. ASSEMBLY AUTOMATION[J]. 2018, 38(5): 576-586, http://ir.ia.ac.cn/handle/173211/23522.[31] Chang, Wenkai, Yang, Guodong, Li, En, Liang, Zize. Toward a Cluttered Environment for Learning-Based Multi-Scale Overhead Ground Wire Recognition. NEURAL PROCESSING LETTERS[J]. 2018, 48(3): 1789-1800, http://ir.ia.ac.cn/handle/173211/25713.[32] Yang, Lei, Li, En, Long, Teng, Fan, Junfeng, Mao, Yijian, Fang, Zaojun, Liang, Zize. A welding quality detection method for arc welding robot based on 3D reconstruction with SFS algorithm. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY[J]. 2018, 94(1-4): 1209-1220, https://www.webofscience.com/wos/woscc/full-record/WOS:000419114100093.[33] Liang Zize. An image processing method for green apple lesion detection in natural environment based on GA-BPNN and SVM. IEEE International Conference on Mechatronics and Automation. 2018, [34] Yang, Lei, Li, En, Long, Teng, Fan, Junfeng, Liang, Zize. A High-Speed Seam Extraction Method Based on the Novel Structured-Light Sensor for Arc Welding Robot: A Review. IEEE SENSORS JOURNAL[J]. 2018, 18(21): 8631-8641, https://www.webofscience.com/wos/woscc/full-record/WOS:000447046600001.[35] Ma Qingzeng, Li En, Xia Yuanqing, Liang Zize, Liu T, Zhao Q. Synchronization Control for a Crustal Movement Simulation System Based on a Fuzzy Logic Strategy. PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017)null. 2017, 6428-6433, [36] Yang Lei, Li En, Liang Zize, IEEE. An Automated Robot-assisted 3D Reconstruction System for Adit. 2017 CHINESE AUTOMATION CONGRESS (CAC)null. 2017, 1767-1772, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000427816101152.[37] 郑晶怡, 李恩, 梁自泽. 基于形状先验模型的平面型工件抓取位姿检测. 机器人[J]. 2017, 39(1): 99-110, [38] Yang, Lei, Li, En, Mao, Yijian, Liang, Zize, IEEE. A Novel 3D Measurement Method of welding workpiece for Robot off-line Programming. 2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)null. 2017, 3835-3840, [39] Xu, Dawei, Li, En, Liang, Zize, IEEE. Kinematics and statics analysis of a novel cable-driven snake arm robot. 2017 CHINESE AUTOMATION CONGRESS (CAC)null. 2017, 439-444, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000427816100083.[40] Enli, Leiyang, Zizeliang. An Automated Robot-assisted 3D Reconstruction System for Adit. 2017, 1767-1772, http://ir.ia.ac.cn/handle/173211/23504.[41] Lei Ding, En Li, Zize Liang, Min Tan. A novel kinematic calibration method for a handling robot based on optimal trajectory planning. IEEE International Conference on Robotics and Biomimeticsnull. 2016, 927-932, http://www.irgrid.ac.cn/handle/1471x/1119917.[42] LI Jing, Jing Fengshui, Li En. A New Teaching System for Arc Welding Robots with Auxiliary Path Point Generation Module. 2016, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZLL201607004209&DbName=IPFDLAST2016&DbCode=IPFD&yx=&pr=&URLID=&bsm=.[43] Li En. The Calculation of the Center for Metal Square Based on Gray Level Difference. Proceedings of the Chinese Control and Decision Conference. 2016, [44] 林浩, 李恩, 梁自泽. 具有非线性不确定参数的电液伺服系统自适应backstepping控制. 控制理论与应用[J]. 2016, 33(2): 181-188, http://ir.ia.ac.cn/handle/173211/11794.[45] Lan Sheng, Li En, Liang Zize, Chen, J, Zhao, Q. Research on the Temperature Control Methods to a Hemodialysis System with Large Inertia and Hysteresis. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016null. 2016, 9400-9405, [46] Zheng Jingyi, Li En, Liang Zize, IEEE. Random Based Narrow Space Path Planning For Arm Manipulation With the Fixed Orientation Constraints. PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC)null. 2016, 5176-5179, [47] Lei Yang, En Li, Zize Liang. The Novel control method for the Adit data collection system. Proceedings of IEEE International Conference on Mechatronics & Automationnull. 2016, http://ir.ia.ac.cn/handle/173211/12098.[48] Teng Long, En Li, Guodong Yang, Zize Liang. A Novel Model Analysis Method and Dynamic Modelling for Hybrid Structure Flexible Manipulator. Proceedings of IEEE International Conference on Mechatronics & Automationnull. 2016, http://ir.ia.ac.cn/handle/173211/12097.[49] jingyi zheng, En Li, Zize Liang. The Grasping Point for Planar Workpiece. IEEE International Conference on Robotics and Biomimeticsnull. 2016, http://ir.ia.ac.cn/handle/173211/12104.[50] 张成, 杨德刚, 李恩, 梁自泽. 基于TMS320F28335的感应加热数字锁相环的设计. 热加工工艺[J]. 2016, 45(4): 246-249, [51] Zheng Jingyi, Li En, Liang Zize, IEEE. The Grasping Point for Planar Workpiece Based on Fuzzy Connectedness Prior Knowledge. 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)null. 2016, 794-799, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000405724600133.[52] Li Jing, Jing Fengshui, Li En. RGB-D sensor-based Auto Path Generation Method for Arc Welding Robot. 2016, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZJC201605003320&DbName=IPFDLAST2017&DbCode=IPFD&yx=&pr=&URLID=&bsm=.[53] Hao Lin, Wei Lin, En Li, Zize Liang. Kinematics and Dynamics Modelling of All Terrain Articulated Tracked Vehicles. Proceedings of 12th World Congress on Intelligent Control and Automationnull. 2016, http://ir.ia.ac.cn/handle/173211/11799.[54] CHANG Wenkai, LI En, YANG Guodong, LIANG Zize. Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points. 2016, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=1&CurRec=1&recid=&FileName=KZLL201607004195&DbName=IPFDLAST2016&DbCode=IPFD&yx=&pr=&URLID=&bsm=.[55] 林浩, 李恩, 梁自泽, 翟波. 光干涉甲烷检测器的光路改进与零点补偿. 煤炭学报[J]. 2015, 40(1): 218-225, http://ir.ia.ac.cn/handle/173211/11793.[56] Liang Zize. Terrain Simulation for Crustal Movement Simulation System Based on Multiple Parallel Mechanisms. Proceedings of the 34th Chinese Control Conference. 2015, [57] Hao Lin, Jingyi Zheng, En Li, Zize Liang. Design and Kinematics Analysis of a 4-DOF Articulated Steering Mechanism. Processing of 34th Chinese Control Conference (CCC)null. 2015, http://ir.ia.ac.cn/handle/173211/11796.[58] 常文凯, 李恩, 杨国栋, 梁自泽. 基于双目视觉的输电线路近距离三维位置测量. 华中科技大学学报(自然科学版)[J]. 2015, 144-147, http://ir.ia.ac.cn/handle/173211/20976.[59] Lin Hao, Zheng Jingyi, Li En, Liang Zize, Zhao, Q, Liu, S. Design and Kinematics Analysis of a 4-DOF Articulated Steering Mechanism. 2015 34TH CHINESE CONTROL CONFERENCE (CCC)null. 2015, 5875-5880, [60] 梁自泽, 龙腾, 李恩, 方灶军, 赵伟青. 智能墙面抹灰机的类型及关键技术研究进展. 山东建筑大学学报[J]. 2015, 30(1): 65-70, http://lib.cqvip.com/Qikan/Article/Detail?id=664090213.[61] Long Teng, Li En, Fang Zaojun, Zhao Weiqing, Liang Zize. A Novel Measurement and Control Method for Automatic Plastering Machine. Proceedings of IEEE International Conference on Mechatronics & Automationnull. 2015, http://ir.ia.ac.cn/handle/173211/11082.[62] 丁磊, 李恩, 谭民, 王逸洲. 五自由度搬运机器人系统设计与运动学分析. 华中科技大学学报(自然科学版)[J]. 2015, 19-22, http://ir.ia.ac.cn/handle/173211/14502.[63] Ma Qingzeng, Li En, Yang Goudong, Liang Zize, Zhao, Q, Liu, S. Terrain Simulation for Crustal Movement Simulation System Based on Contour Lines. 2015 34TH CHINESE CONTROL CONFERENCE (CCC)null. 2015, 8795-8800, [64] Qingzeng Ma, Guodong Yang, En Li, Zize Liang. Design, control and planning for a crustal movement simulation system. IEEE International Conference on Robotics and Biomimetics(ROBIO)null. 2014, 181-186, http://www.irgrid.ac.cn/handle/1471x/972951.[65] Lin Hao, Liang Zize, Li En, Yang Mingbo, Zhai Bo, IEEE. Analysis and Design of an Improved Light Interference Methane Sensor. 11TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA)null. 2014, 404-409, [66] 孙尧, 黄永锋, 景奉水, 梁自泽, 李恩. 基于移动平台的医疗监护信息传输及显示的设计与实现. 移动通信[J]. 2013, 64-68, http://lib.cqvip.com/Qikan/Article/Detail?id=44958796.[67] 贾鹏霄, 李恩, 梁自泽, 强艳辉. PD自适应控制结合输入整形抑制单模态弹性机构振动研究. 振动与冲击[J]. 2013, 189-193, http://lib.cqvip.com/Qikan/Article/Detail?id=1005353482.[68] Qingzeng Ma, En Li, Guodong Yang, Zize Liang. Platform-Level Design for a Crustal Movement Simulation System. Proceedings of IEEE International Conference on Information and Automationnull. 2013, http://ir.ia.ac.cn/handle/173211/12102.[69] Zhao Dezheng, Li En, Yang Guodong, Liang Zize, Sun Z, Deng Z. Development of Database System for Overhead Power Transmission Line Inspection Robot. PROCEEDINGS OF 2013 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT AUTOMATIONnull. 2013, 254: 439-447, [70] Dezheng Zhao, En Li, Degang Yang, Zize Liang. Development of Historical Database for SF6 Extra High Voltage Circuit Breaker Intelligent Monitoring System. Proceedings of IEEE International Conference on Information and Automationnull. 2013, http://ir.ia.ac.cn/handle/173211/12100.[71] Zhao Dezheng, Yang Guodong, Li En, Liang Zize. Design and Its Visual Servoing Control of an Inspection Robot for Power Transmission Lines. Proceedings of 2013 IEEE International Conference on Robotics and Biomimeticsnull. 2013, http://ir.ia.ac.cn/handle/173211/11079.[72] Li En. Dynamic stability of the aerial work platform based on ZMP. International Conference on Intelligent Control and Information Processing. 2012, [73] Jia, Pengxiao, Li, En, Liang, Zize, Qiang, Yanhui. Adaptive Neural Network Control of an Aerial Work Platform’s arm. Proceedings of the 10th World Congress on Intelligent Control and Automation (WCICA)null. 2012, http://www.irgrid.ac.cn/handle/1471x/1047094.[74] 李恩. 伸缩臂高空作业车轨迹跟踪控制方法研究. 华中科技大学学报(自然科学版). 2011, [75] Liang Zize, Tan Min, Li En. Design of a hydraulic-cylinder-pressure-based anti-overturning module for aerial work platforms. International Conference on Intelligent Computation Technology and Automation (ICICTA)null. 2011, 974-977, http://ir.ia.ac.cn/handle/173211/4861.[76] Yang Guodong, Liang Zize, Li En. Design of current transformer for power transmission lines inspection robot. Lecture Notes in Electrical Engineeringnull. 2011, 729-736, http://ir.ia.ac.cn/handle/173211/4862.[77] 王硕, 李恩, 赵晓光. CANopen协议在高空作业车控制系统中的应用. 制造业自动化[J]. 2011, 33(3): 5-8, http://lib.cqvip.com/Qikan/Article/Detail?id=36439749.[78] Liang Zize, Zhao Xiaoguang, Li En, Wang Shuo. Research on trajectory tracking control method of aerial work platform with telescopic booms. Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)[J]. 2011, 39(SUPPL. 2): 216-219, http://ir.ia.ac.cn/handle/173211/3410.[79] Yang, Guodong, Li, En, Fan, Changchun, Lei, Weiyang, Liang, Zize. Modeling and control of a bi-brachiate inspection robot for power transmission lines. IEEE International Conference on Mechatronics and Automation ( ICMA)null. 2010, 1036-1041, http://www.irgrid.ac.cn/handle/1471x/972862.[80] Yang, Guodong, Li, En, Fan, Changchun, Lei, Weiyang, Liang, Zize. Adaptive fuzzy logic based inspection robot for high voltage power transmission line. IEEE International Conference on Information and Automation (ICIA)null. 2010, 613-618, http://www.irgrid.ac.cn/handle/1471x/972819.[81] Hu, Haidong, Li, En, Zhao, Xiaoguang, Tan, Min, Yu, Wensheng. Backstepping controller design for the trajectory tracking control of work platform of folding-boom aerial platform vehicle. IEEE International Conference on Robotics and Biomimetics(ROBIO)null. 2010, 1641-1644, http://www.irgrid.ac.cn/handle/1471x/972836.[82] Yang Guodong, Liang Zize, Li En. Formation constrained coordinated motion control methods for the crustal movement simulation system. International Conference on Intelligent Control and Information Processing (ICICIP)null. 2010, 766-771, http://ir.ia.ac.cn/handle/173211/4868.[83] Li En, Liang Zize, Yang Degang. Research on an ARC welding robot controller with open architecture and the swing-welding interpolation algorithm. IET Conference Publicationsnull. 2010, 391-396, http://ir.ia.ac.cn/handle/173211/4888.[84] Liang Zize, Yang Guodong, Li En, Tan Min. The design and control of the crustal movement simulation system. IEEE International Conference on Information and Automation (ICIA)null. 2010, 283-288, http://ir.ia.ac.cn/handle/173211/4896.[85] Jing Fengshui, Hou Zengguang, Li En. 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