Associate Research Fellow/Professor  |  Liu, Jing-Sin       Publications   1. MH Lee and JS Liu, "Reliable and Accurate Implicit Neural Representation of Multiple Swept Volumes with Application to Safe Human-Robot Interaction," SN Computer Science, volume 5, number 313, pages 18, March 2024. ::: 2. MH Lee and JS Liu, "Fast Collision Detection for Robot Manipulator Path:An Approach Based on Implicit Neural Representation of Multiple Swept Volumes," 11th International Conference on Advanced Robotics and Intelligent Systems (ARIS 2023), Taipei, Taiwan ( Best Conference Paper Contest Honorable Mention), August 2023. ::: 3. Ming-Hsiu Lee, Jing-Sin Liu, "Single swept volume reconstruction by signed distance function learning: a feasibility study based on implicit geometric regularization," IFAC-PapersOnLine, vol. 55. Issue 15, 2022, pp.142-147, July 2022. ::: 4. HC Liao, HJ Chou and JS Liu,, chapter "Velocity Planning via Model-Based Reinforcement Learning: Demonstrating Results on PILCO for One-Dimensional Linear Motion with Bounded Acceleration," "Applied Intelligence - Annual Volume 2022," Carlos Travieso-Gonzalez, editor, volume 2022, pages 25, IntechOpen, May 2022. 5. TW Hsu and JS Liu, "Convex hull determination method for generating Bézier curve followed by Trailer-tractor System," Automation 2020, Hualien, Taiwan, November 2020. ::: 6. TW Hsu and JS Liu, "Design of smooth path based on the conversion between eta3 spline and Bezier curve," 2020 American Control Conference, Denver, CO, USA, pages 3230-3235, July 2020. ::: 7. H.-J.Chou, J.-S.Liu and, W.-C.Tung, "Numerical Simulation of Collision-free Near-shortest Path Generation for Dubins Vehicle via Hamilton-Jacobi-Bellman Equation: A case study," Cogent Engineering, volume 7, number 1, pages 32, July 2020. 8. W.-C. Tung and J.-S. Liu, "SOLUTION OF AN INTEGRATED TRAVELING SALESMAN AND COVERAGE PATH PLANNING PROBLEM BY USING A GENETIC ALGORITHM WITH MODIFIED OPERATORS," IADIS International Journal on Computer Science and Information Systems, volume 14, number 2, pages 95-114, December 2019. ::: 9. HC Liao and JS Liu, "A Model-Based Reinforcement Learning Approach to Time-Optimal Control Problems," 32nd International Conference on Industrial, Engineering & Other Applications of Applied Intelligent Systems (AIE/IEA 2019), Graz, Austria, Lecture Notes in Computer Science, 11606, July 2019. ::: 10. J-Y Lin and J.-S. Liu, "Reduce of DenseNets Calculation on UAV Vision Application," 2019 International Workshop of ICAROB in Taiwan (2019 ICAROB Taiwan) — Intelligent Artificial Life and Robotics, Douliu, Taiwan, June 2019, June 2019. ::: 11. Pei-Li Kuo, Chung-Hsun Wang, Han-Jung Chou and Jing-Sin Liu, "A Real-Time Hydrodynamic-based Obstacle Avoidance System for Nonholonomic Mobile Robots with Curvature Constraints," Applied Sciences, volume 8, number 11, pages 25 pages, November 2018. ::: 12. CS Wu, YZ Chiu and JS Liu, "Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration," Modelling and Simulation in Engineering, volume 2018, pages 19 pages, November 2018. ::: 13. HJ Chou and JS Liu, "Numerical Study of Hamilton-Jacobi-Bellman Equation for Time-Optimal Trajectory Generation of Dubins Vehicle," 12th AIMS Conference on Dynamical Systems, Differential Equations and Applications, Taipei, Taiwan, July 2018. ::: 14. Yin-Ting Lin and Jing-Sin Liu, "Revisit of Minimum- area Enclosing Rectangle of a Convex Polygon," 2018 5th International Conference on Control, Decision and Information Technologies,Thessaloniki, Greece, April 2018. ::: 15. PL Kuo, HJ Chou, CH Wang and JS Liu, "Streamline-based Obstacle Avoidance for Mobile Robot with Curvature Constraints," 2017 International Conference on Advanced Mechatronic Systems (ICAMechS 2017), Xiamen, China, Dec. 2017., December 2017. ::: 16. Chien-Sheng Wu, Zih-Yun Chiu and Jing-Sin Liu, "Simulations for Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves for a Unicycle," 2017 IEEE International Conference on Robotics and Biomimetics, Macau SAR, China, December 2017. ::: 17. Chi-Wen Lo, Kun-Lin Wu, Chia-Wei Lin and Jing-Sin Liu, "Reactive human-aware wall following for indoor mobile robot," number TR-IIS-17-004, IIS, December 2017. ::: 18. HJ Chou, PL Kuo and JS Liu, "Numerical streamline path planning based on log-space harmonic potential function: a simulation study," 2017 IEEE International Conference on Real-time Computing and Robotics, Okinawa , Japan, July 2017, July 2017. ::: 19. PL Kuo, CH Wang, HJ Chou and JS Liu, "A Real-Time Streamline-based Obstacle Avoidance System for Curvature-Constrained Nonholonomic Robots," The 6th International Symposium on Advanced Control of Industrial Processes (AdCONIP), Taipei, Taiwan, May 2017. ::: 20. Chien-Sheng Wu, Zih-Yun Chiu, Jing-Sin Liu, "A Comparative Study of Time-Optimal Trajectory Planning Along Lane-Change Path for Unicycle," 第二十四屆全國自動化科技研討會(Automation 2016), Taichung, Taiwan, November 2016, Student Paper Award (2nd Place) ::: 21. Kunlin Wu, TJ Ho, Sean A. Huang, KH Lin, YC Lin and Jing-Sin Liu, "Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain : An Approach Based on Geodesic," Mathematical Problems in Engineering, volume 2016, pages 12, October 2016. ::: 22. Liu JS, Pan WH, Ku WY, Tsao YH, Chang YZ, "Simulation-based fast collision detection for scaled convex polyhedral objects in motion by exploiting analytical contact equations," Robotica, volume 34, number 1, pages 118-134, January 2016. ::: 23. Sean A. Huang, K.-L Wu and J.-S. Liu, "UAV Robust Navigation via Geodesic Path Planning and Nonlinear Mixed H2/Hinf Control Strategy," 12th IEEE International Conference on Networking, Sensing and Control, Taipei, Taiwan, pages 309-314, April 2015. ::: 24. Y.-L. Ting,J.-S. Liu and Y.-S. Chou, "Waypoint navigation with limit cycle avoidance for mobile robot in unknown static indoor environments," Journal of Mechatronics, volume 3, number 1, pages 9-20, March 2015. ::: 25. CW Lo, KL Wu and JS Liu, "Wall following and human detection for mobile robot surveillance in indoor environment," IEEE International Conference on Mechatronics and Automation, Tianjin, China, IEEE, pages 1696-1702, August 2014, acceptance rate 65% ::: 26. SY Wu and JS Liu, "Evolutionary Path Planning of a Data Mule in Wireless Sensor Network by Using Shortcuts," 2014 IEEE Congress on Evolutionary Computation, Beijing, China, July 2014, July 2014, acceptance rate 50% ::: 27. KL Wu, CW Lo YC Lin and JS Liu, "3D path planning based on nonlinear geodesic equation," 11th IEEE International Conference on Control and Automation, Taichung, Taiwan, June 2014. ::: 28. KM Chiu, JS Liu and SR Yang, "Robot Routing Using Clustering-Based Parallel Genetic Algorithm with Migration," Journal of Communication Engineering and Networks, volume 2, number 2, pages 71-83, April 2014. ::: 29. CW Lo, Kunlin Wu, YC Lin and JS Liu, "An intelligent control system for mobile robot navigation tasks in surveillance," 2nd International Conference on Robot Intelligence Technology and Applications, Denver, Colorado, USA, Advances in Intelligent Systems and Computing, Springer Verlag, December 2013. ::: 30. YL Ting and JS Liu, "Efficient Path Planning with Limit Cycle Avoidance for Mobile Robot Navigation," 2013 IEEE International Conference on Mechatronics and Automation, Takamatsu, Japan, pages 500-506, August 2013. ::: 31. JS Liu, SY Wu and KM Chiu, "Path Planning of a Data Mule in Wireless Sensor Network Using an Improved Implementation of Clustering-Based Genetic Algorithm," 2013 IEEE Symposium Series on Computational Intelligence, Singapore, April 2013. ::: 32. YC Lin and JS Liu, "The Path Planning Algorithm of Triangle Grid Scan for Localization in Wireless Sensor Network," Applied Mechanics and Materials, volume 278 - 280, Advances in Mechatronics and Control Engineering, Yun-Hae Kim and Prasad Yarlagadda, editor, Trans Tech Publications, Switzerland, volume 278 - 280, pages 1874-1877, January 2013. ::: 33. YS Chou and JS Liu, "A Robotic Indoor 3D Mapping System Using a 2D Laser Range Finder Mounted on a Rotating Four-bar Linkage of a Mobile Platform," International Journal of Advanced Robotic Systems, volume 10, pages 1-10, January 2013, invited for special issue on SLAM ::: 34. JS Liu, KM Chiu, SR Yang and SY Wu, "Performance Study of a Clustering-Based Genetic Algorithm for Data Gathering by a Mobile Robot in Wireless Sensor Network," 2012 6th International Conference on New Trends in Information Science and Service Science, Taipei, Taiwan, October 2012. ::: 35. CH Hsieh and JS Liu, "Nonlinear Model Predictive Control for Wheeled Mobile Robot in Dynamic Environment," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2012), Kaohsiung, Taiwan, July 2012. ::: 36. YC Lin, JS Liu and KM Chiu, "A novel localization system combining a hexagon algorithm and mobile anchor," IET International Conference on Automatic Control and Artificial Intelligence, Xiamen, China, March 2012. 37. JH Wei and JS Liu, "Hybridizing RRT and Variable-Length Genetic Algorithm for Smooth Path Generation," 2011 IEEE Int. Conf. Robotics and Biomimetics (IEEE ROBIO 2011),Phuket Island, Thailand, pages 626-632, December 2011. ::: 38. K.-M. Chiu and J.-S. Liu, "Robot Routing Using Clustering-Based Parallel Genetic Algorithm with Migration," 2011 IEEE Workshop on Merging Fields of Computational Intelligence and Sensor Technology, Paris, France, April 2011. ::: 39. Chung HC and Liu JS, "Adaptive Learning Approach of Fuzzy Logic Controller with Evolution for Pursuit-Evasion Games," Second International Conference on Computational Collective Intelligence, Kaoshiung, Taiwan, November 2010. ::: 40. Hou JF, Chou YS, Chang YZ and Liu JS, "Experimental Investigation of a Prediction Algorithm for an Indoor SLAM Platform," 2010 International Conference on Intelligent Robotics and Applications, Shanghai,China, Lecture Notes in Artificial Intelligence, 6425, H.Liu et al., editor, Springer Verlag Berlin, pages 154-165, November 2010. ::: 41. Wu CJ and Liu JS, "Level Set and Fat Fast Marching Method for Normal and Dynamic Path Planning of Pursuit-Evasion Problem," IEEE International Conference on Automation and Logistics, Hong Kong and Macau, China, August 2010. ::: 42. YJ Ho and JS Liu, "Simulated annealing based algorithm for smooth robot path planning with different kinematic constraints," 25th Annual ACM Symposium on Applied Computing,Sierre, Switzerland, March 2010. ::: 43. YJ Ho and JS Liu, "Collision-free curvature-bounded smooth path planning using composite Bezier curve based on Voronoi diagram," 8th IEEE International Symposium on Computational Intelligence in Robotics and Automation, Daejeon, Korea, December 2009. ::: 44. JH Wei and JS Liu, "Mobile Robot Path Planning with eta3 splines Using Spatial-Fitness-Sharing Variable-length Genetic Algorithm," 2009 IEEE International Conference on Intelligent Robots and Systems, St. Louis, Missouri, USA, October 2009. ::: 45. YJ Ho and JS Liu, "Smoothing Voronoi-based Obstacle-avoiding Path by Length-minimizing Composite Bezier Curve," International Conference on Service and Interactive Robotics, Taipei, Taiwan, August 2009. ::: 46. YS Chou and JS Liu, "An Efficient Path Planner Combining Random-sampling and Fuzzy System," 14th IEEE International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, August 2009. ::: 47. CH Chiang, JS Liu, YS Chou, "Comparing Path Length by Boundary Following Fast Matching Method and Bug Algorithms for Path Planning," Twenty second International Conference on Industrial, Engineering & Other Applications of Applied Intelligent Systems (IEA-AIE 2009), Lecture Notes in Artificial Intelligence, Studies in Computational Intelligence, Springer Verlag, Tainan, Taiwan, June 2009, IEA/AIE has been listed in tier 1 research meetings in Artificial Intelligence / Machine Learning / Robotics / Human Computer Interaction (Artificial Intelligence Conference Ranking) and listed among five first rank Industrial Engineering conferences ::: 48. JH Wei and JS Liu, "Collision-free Composite η3–Splines Generation for Nonholonomic Mobile Robots by Parallel Variable-Length Genetic Algorithm," International Conference on Computational Intelligence for Modelling, Control and Automation, Vienna, Austria, December 2008. ::: 49. HC Chang and JS Liu, "High quality path planning for autonomous mobile robots with η3–Splines and parallel genetic algorithm," 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, December 2008. ::: 50. CH Chiang, JS Liu, "Boundary Following in Unknown Polygonal Environment Based on Fast Marching Method," 2008 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO 2008), Taipei, Taiwan, August 2008. ::: 51. WH Pan and JS Liu, "On tolerence problem of contacting polyhedral objects," 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China, July 2008. ::: 52. Liu JS, Hung KT, Chang YZ, "Offline smooth mobile robot path planning in dynamic environments using evolutionary multiobjective optimization," 2008 IEEE International Conference on Distributed Human-Machine Systems, Athens, Greece, March 2008. ::: 53. CH Chiang, PJ Chiang Jerry C. Fei and Jing-Sin Liu, "A Comparative Study of Implementing Fast Marching Method and A* Search for Mobile Robot Path Planning in Grid Environment: Effect of Map Resolution," IEEE Workshop on Advanced Robotics and its Social Impact, Hsin-Chu, Taiwan, December 2007. 54. Chiang CH, Chiang PJ, Fei Jerry C., Liu JS, "A Comparative Study of Implementing Fast Marching Method and A* Search for Mobile Robot Path Planning in Grid Environment: Effect of Map Resolution," 2007 IEEE Workshop on Advanced Robotics and its Social Impact, December 2007, Hsin-Chu, Taiwan ::: 55. Liu Jing-Sin, Pan Wen-Hua, "Automatic computation of range of motion for coherent contact maintenance/transition of moving scaled convex polyhedra," IEEE Int. Conf. Robotics and Biomimetics, Sanya, China, December 2007. ::: 56. Jing-Sin Liu, Kao-Ting Hung and Yau-Zen Chang, "Safe and shorter cubic spiral path planning for a mobile robot in the dynamic environment by evolutionary multiobjective optimization," International Forum on Systems and Mechatronics, Tainan, Taiwan, December 2007. 57. WH Pan, JS Liu and WY Ku, "Fast collision detection for scaled convex polyhedral objects with relative motion," IEEE Int. Symposium on Assembly and Manufacturing, Ann Arbor, Michigan, 2007, July 2007. ::: 58. Kao-Ting Hung, Jing-Sin Liu, YZ Chang, "A comparative study of smooth path planning for a mobile robot by evolutionary multi-objective optimization," IEEE Int. Symposium on Computational Intelligence in Robotics and Automation, Jacksonville, Florida, June 2007. ::: 59. K.-T. Hung, J.-S. Liu, Y.-Z. Chang, "Generation of multiple cubic spiral paths for obstacle avoidance of car-like mobile robots using evolutionary approach," 3rd Int. Conf. Autonomous Robots and Agents, New Zealand, December 2006. ::: 60. YRChien, JS Liu, "Learning the Stylistic Similarity Between Human Motions," 2nd International Symposium on Visual Computing, Lecture Notes in Computer Science, Lake Tahoe, November 2006. ::: 61. Liu JS, Kao JI, Chang YZ, "Collision detection of deformable polyhedral objects via inner-outer ellipsoids," IEEE International Conference on Intelligent robots and Systems, Beijing, October 2006. ::: 62. Liu JS, "Exact collision detection for scaled convex polyhedra via inner ellipsoidal deformation bounds," IEEE Int. Conf. Robotics, Automation and Mechatronics, Bangkok, Thailand, June 2006. 63. Liu JS, Kao JI, Jian Y, Chang YZ, "Collision detection of deformable convex polyhedral objects undergoing identical and uniform vertex repositioning," 3rdrd International Conference on Computational Intelligence, Robotics and Autonomous Systems, Singapore, December 2005. 64. Lee TC and Liu JS, "rho-exponential stabilization for Caplygin systems: simplified controllability conditions and examples," IEEE Int'l Conf. on Robotics and Automation, Barcelona, Spain, April 2005. ::: 65. Jing-Sin Liu, Ju-I Kao and Yau-Zen Chang, "Collision detection of deformable polyhedral objects undergoing identical and uniform vertex repositioning," 3rd Int. Conf. Computational Intelligence, Robotics, Autonomous Systems, Singapore, January 2005. 66. T.C. Liang, JS Liu, GT Hung anf YZ Chang, "Practical and flexible path planning for car-like mobile robots using maximal-curvature cubic spirals," Robotics and Autonomous Systems, volume 52, number 4, pages 312-335, 2005. ::: 67. TC Lee and JS Liu, "A rank condition for ρ-exponential stabilization of dynamic Caplygin systems," 2004 IEEE Conference on Robotics, Automation and Mechatronics, pages 1020-1025, December 2004. ::: 68. T. C. Liang and Jing-Sin Liu, "A Bounded-curvature Shortest Path Generation Method for Car-like Mobile Robot Using Cubic Spiral," IEEE International Conference on Intelligent Robots and Systems, pages 2819-2824, Sendai, Japan, October 2004. ::: 69. T. C. Liang and Jing-Sin Liu, "Collision-free Path Planning for Mobile Robot Using Cubic Spiral," IEEE International Conference on Robotics and Biomimetics, Shenyang, China, August 2004. 70. Jing-Sin Liu, T. C. Liang, and Y. A. Lin, "Realization of Ball Passing Strategy in Robot Soccer Game: A Case Study of Integrated Planning and Control," Robotica, volume 22, pages 329-338, January 2004. ::: 71. Jing-Sin Liu, Y.R. Chien, R.M. Lin, "A Comparative Study of Numerical Efficiency of Ellipsoidal Overlap Checking Methods," 2nd International Conference on Computational Intelligence, Robotics and Autonomous Systems, Singapore, December 2003. 72. H. C. Lai, J. S. Liu, L. S. Wang and D. T. Lee, "Design Parameters Study on the Stability and Perception of Riding Comfort of the Electrical Motorcycles under Rider Leaning," Mechatronics, volume 13, number 1, pages 49-76, February 2003. ::: 73. Jing-Sin Liu, T.C. Liang and I.A. Lin, "A Simulator for Strategy Developing and Realization in Robot Soccer Game," 8th International Symposium on Artificial Life and Robotics, Beppu, Oita, Japan, January 2003. 74. Jing-Sin Liu, Y.R. Chien, W.-K. Su, "Collision Detection Based on Inner-outer Ellipsoidal Approximation: Some Improvements," 2003 IEEE International Symposium on Computational Intelligence on Robotics and Automation, Kobe, Japan, January 2003. ::: 75. JL Chen, JS Liu, WC Lee and TC Liang, "On-line multi-criteria based collision-free posture generation of redundant manipulators in constrained workspace," Robotica, volume 20, pages 625-636, September 2002. ::: 76. T.C. Liang,Jing-Sin Liu, "Coordinated trajectory planning and formation control of soccer robots to pass a ball cyclically," Distributed Autonomous Robotic Systems 5,Fukuoka, Japan, Springer-Verlag, pages 187-196, June 2002. ::: 77. J.L. Chen, JS Liu and WC Lee, "A recursive algorithm for on-line clustering obstacles cluttered in dynamic environments," Journal of Intelligent and Robotic Systems, volume 33, pages 209-230, June 2002. ::: 78. TC Liang and JS Liu, "Motion Controller Realizing Cyclic Ball Passing Strategy among Multiple Mobile Robots in Robot Soccer Games," IEEE Int. Conf. Robotics and Automation, May 2002, Washington D.C ::: 79. Ju M. Y,Jing-Sin Liu, Hwang K. S, "Real-time velocity alteration strategy for collision-free trajectory planning of two articulated robot manipulators," Journal of Intelligent and Robotic Systems, volume 33, pages 167-186, May 2002. ::: 80. Ju M. Y., JS Liu, Shiang S. P., Chien Y. R., Hwang K. S., and Lee W. C, "Fast and accurate collision detection based on enclosed ellipsoid," Robotica, volume 19, pages 381-394, July 2001. ::: 81. Ju M. Y., Jing-Sin Liu, Shiang S. P., Chien Y. R., Hwang K. S., and Lee W. C, "A novel collision detection method based on enclosed ellipsoids," 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001. ::: 82. JL Chen, JS Liu and WC Lee, "A recursive algorithm of obstacles clustering for reducing complexity of collision detection in 2D environment," 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, pages 3795-3800, May 2001. ::: 83. HC Lai, JS Liu, DT Lee and LS Wang, "Design Parameters Study on the Stability and Perception of Riding Comfort of the Electrical Motorcycles under Rider Leaning," 2001 Chinese Automatic Control Conference (中華民國自動控制研討會), Taoyuan, Taiwan, March 2001, finalist for best student paper award 84. W.S. Lin,C. H. Tsai and Jing-Sin Liu, "Robust neuro-fuzzy control of multivariable systems by tuning consequent membership functions," Fuzzy Sets and Systems, volume 124, pages 181-195, 2001. ::: 85. SP Shiang, JS Liu and YR Chien, "Estimate of minimum distance between convex polyhedra based on enclosed ellipsoids," IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2000, Takamatsu,Japan 86. MY Ju, JS Liu and KS Hwang, "Ellipsoidal modeling for articulated robot manipulators for interactive motion planning," IIS, Academia Sinica, 2000. 87. S.P.Shiang,Jing-Sin Liu,Y.R. Chien, "On enhancing GJK algorithm for distance computation between convex polyhedra: comparisons of improvements," 7th IEEE Mediterranean Conference on Control and Automation, June 1999, Haifa, Israel 88. T.C. Liang and Jing-Sin Liu, "An improved trajectory planner for redundant manipulators in constrained workspace," Journal of Robotic Systems, volume 16, number 6, pages 339-351, 1999. ::: 89. Jing-Sin Liu and S.L. Chen, "Robust hybrid control of constrained robot manipulators via decomposed equations," Journal of Intelligent and Robotic Systems, number 1, pages 45-70, January 1998. ::: 90. Jing-Sin Liu, C.H.Tsai, K.B.Tseng and W.S. Lin, "A stable neuro-fuzzy controller for output tracking in composite nonlinear systems," First IEEE International Conference on Intelligent Processing Systems, December 1997, Beijing, China 91. Jing-Sin Liu and S.H. Chou, "Discrete iterative learning controller design using genetic algorithms," IFAC Conference on Control of Industrial Systems, June 1997, Belfort, France 92. JS Liu, LF Chen, FC Hsiao and SH Jou, "A simple genetic algorithm for the digit-guess problem," IEEE Conference on Emerging Technologies and Factory Automation, pages 334-340, November 1996. ::: 93. C.-J. Chien and J.-S. Liu, "A P-type iterative learning controller for robust output tracking of nonlinear time-varying systems," International Journal of Control, volume 64, number 2, pages 319-334, July 1996. ::: 94. C.H.Tsai, Jing-Sin Liu, W.S.Lin, "A neuro-fuzzy logic controller for trajectory tracking of uncertain robots," IEEE International Conference on Robotics and Automation, May 1996, Minneapolis, Minnesota, USA 95. Jing-Sin Liu, C.-C Chen, A-C. Wu and L.-C. Fu, "Robust tracking of uncertain robotic manipulators using high order nonlinear feedback," 4th IEEE Conference on Control Applications, September 1995, Albany, NY 96. Jing-Sin Liu and Y.-S. Chou, "Control and state observation of periodic linear multimodal systems," International Journal of Systems Science, volume 26, pages 883-897, 1995. 97. C.-J. Chien and J.-S. Liu, "A P-type iterative learning controller for robust output tracking of nonlinear time-varying systems," American Control Conference, pages 2595-2599, June 1994. ::: 98. Jing-Sin Liu, L.-S. Wang and L.-S. Tsai, "A nonlinear programming approach to nonholonomic motion planning with obstacle avoidance," IEEE International Conference on Robotics and Automation, May 1994, San Diego, California, U.S.A 99. Jing-Sin Liu, "On transformation of bilinear systems to periodic linear multimodal systems," The First Chinese World Congress on Intelligent Control and Intelligent Automation, August 1993, Beijing, China 100. Jing-Sin Liu, K.Yuan and T.Y. Huang, "Modelling and frequency-shaped sliding mode control of a slewing flexible arm with large deflections," 12th IFAC World Congress, Sydney, July 1993, Australia 101. Jing-Sin Liu and S.-L. Chen, "On global stability of quadratic state feedback controlled linear systems," Systems and Control Letters, volume 21, pages 371-379, 1993. 102. Jing-Sin Liu, "Augmented decouplable outputs selection for redundantly actuated systems," Systems and Control Letters, volume 19, pages 53-60, 1992. 103. Jing-Sin Liu, "Robustness of optimal nonlinear regulators under actuator and additive perturbations," Control-Theory and Advanced Technology, volume 8, pages 779-787, 1992. 104. JS Liu, "Hybrid control for a class of constrained mechanical systems," 30th IEEE Conference on Decision an Control (CDC), Brighton, UK, pages 1046-1047, December 1991, rank 1 conference 105. Jing-Sin Liu, "Hybrid position/force tracking for a class of constrained mechanical systems," Systems and Control Letters, volume 17, pages 395-399, December 1991. 106. Jing-Sin Liu and K. Yuan, "Characterization of allowable perturbations for robust decoupling of affine nonlinear systems," International Journal of Control, volume 54, pages 729-735, 1991. 107. Jing-Sin Liu, K. Yuan and W.S. Lin, "Robust nonlinear control of robotic manipulators," Journal of the Chinese Institute of Engineers, volume 13, pages 189-200, 1990. 108. Jing-Sin Liu and K. Yuan, "Geometric approach to nonlinear optimal control problems," International Journal of Control, volume 51, pages 1409-1418, 1990. 109. Jing-Sin Liu, K. Yuan and W.S. Lin, "On minimum-fuel control of affine nonlinear systems," IEEE Transactions on Automatic Control, volume 34, pages 767-770, 1989.