AIMRL
Flexible Integrated Vision System (FIVS)
A smart machine vision system was developed that integrates vision sensing, direct illumination control, and embedded processing into a unified framework. This innovation minimizes latency between sensing and actuation, enabling real-time decision-making for complex robotic tasks.
Kok-Meng Lee and Daren Li, "Principle and applications of retroreflective vision sensing for discrete part presentation," J. of Robotic Systems. Feb 1991, 8(1): 55-73.
DOI: 10.1002/rob.4620080105. PDF
Kok-Meng Lee and Robert Blenis, "Design concept and prototype development of a flexible integrated vision system," J. of Robotic Systems. 1994, 11(5): 387-398.
DOI: 10.1002/rob.4620110505. PDF.
An illustrative application of Flexible Integrated Vision System (FIVS) in robotics
Kok-Meng Lee and Yifei Qian, "A vision-guided fuzzy logic control system for dynamic pursuit of a moving target," Microprocessor and Microsystems, Elsevier Science. Apr 1998, 21(9): 571-580.
DOI: 10.1016/S0141-9331(98)00032-5. PDF.
Kok-Meng Lee and Yifei Qian, "Intelligent vision-based part-feeding on dynamic pursuit of moving objects," ASME J. of Manufacturing Science and Engineering (JMSE). Aug 1998, 120(3): 640-647 (8 pages).
DOI:10.1115/1.2830169. PDF.
Kok-Meng Lee and James Downs, "Vision-guided Dynamic Part Pick-up Learning Algorithm," Proc. 1997 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM1997), Tokyo Japan, June 16-20, 1997, 55-60.
DOI: 10.1109/AIM.1997.652918. PDF.
Prototype illustrates the ball-joint-like spherical motor design
A ball‑joint motor was developed to provide seamless 3‑DOF motion through distributed, redundant actuation. This architecture enhances energy efficiency and improves fault tolerance, enabling robust multi‑axis motion in advanced robotic systems.
Kok-Meng Lee and Chi-Kong Kwan, "Design concept development of a spherical stepper for robotic applications," IEEE Trans. on Robotics and Automation. Feb 1991, 7(1): 175-181.
DOI:10.1109/70.68082. PDF.
Kok-Meng Lee, Ronald B. Roth, and Zhi Zhou, "Dynamic modeling and control of a ball-joint-like VR spherical motor," ASME J. of Dynamic Systems, Measurement and Control. Mar 1996.
DOI: 10.1115/1.2801148. PDF.
Kun Bai and Kok-Meng Lee, "Direct field-feedback control of a ball-joint-like permanent-magnet spherical motor," IEEE/ASME Trans. on Mechatronics. Jun 2014, 19(3): 975-986.
DOI: 10.1109/TMECH.2013.2264565. PDF.
Vision-Based 3-DOF Orientation Sensing
A novel method was developed for direct 3-DOF orientation sensing, enabling precise, real-time tracking of spherical bodies while overcoming the limitations of conventional systems that rely on single-axis encoders and mechanical constraints.
Harry Garner, Martin Klement, and Kok-Meng Lee, "Design and Analysis of an Absolute Non-Contact Orientation Sensor for Wrist Motion Control ," Proc. IEEE/ASME AIM 2001, Como, Italy, July 8-12, 2001, 69-74.
DOI: 10.1109/AIM.2001.936432. PDF.
Kok-Meng Lee and Debao Zhou, "A real-time optical sensor for simultaneous measurement of 3-DOF motions," IEEE/ASME Trans. on Mechatronics. Sep 2004, 9(3): 499-507.
DOI: 10.1109/TMECH.2004.834642. PDF.
Min Li, Kok-Meng Lee, and Eric Hanson, "Sensor fusion based on embedded-measurements for real-time three-DOF orientation motion estimation of a weight-compensated spherical motor," IEEE Trans. on Instr. & Meas. Jul 2022, 71: 9508009.
DOI: 10.1109/TIM.2022.3188509. PDF
Highly Damped Fingers for Compliant Grasping
This study presents a time-domain method for identifying the damping behavior of highly compliant fingers using Rayleigh damping and explicit dynamic FEA, enabling accurate analysis of contact- induced forces and stresses, offering key insights for jointless grasper design.
Chih-Hsing Liu and Kok-Meng Lee, "Dynamic modeling of damping effects in highly damped compliant fingers for applications involving contacts,” ASME J. of Dyn. Syst., Meas. and Control. Jan 2012, 134(1): 011005-1~9.
DOI: 10.1109/TIM.2022.3188509. PDF
Chao-Chieh Lan and Kok-Meng Lee, "An analytical contact model for design of compliant fingers," ASME J. of Mechanical Design. Jan 2008, 130(1): 011008-1~8.
DOI: 10.1115/1.2803655. PDF.
Kok-Meng Lee, "On The Development of a Compliant Grasping Mechanism for On-line Handling of Live Objects, Part I: Analytical Model," Proc. IEEE/ASME AIM1999, Atlanta GA, September 18-23, 1999, 354-359.
DOI: 10.1109/AIM.1999.803192. PDF.
Compliant robotic grasper for automated transferring of live broilers
A compliant robotic grasper was developed for the automated transfer of live broilers to a shackle line. Designed to gently conform to varying body sizes without injury, the system enables high-throughput, humane handling by integrating soft gripping mechanisms with precise, sensor-guided control.
K-M. Lee, Automated Transfer of Live Objects to Shackle Line Method and Apparatus, US Patent 6,623,346 (September 23, 2003).
Kok-Meng Lee, "Design criteria for developing an automated live-bird transfer system," IEEE Trans. on Robotics and Automation. Aug 2001, 17(4): 483-490.
DOI: 10.1109/70.954760. PDF.
Kok-Meng Lee, A. Bruce Webster, Jeffry Joni, Xuecheng Yin, Richard Carey, Michael P. Lacy, and Rishi Gogate, "On the Development of a Compliant Grasping Mechanism for On-line Handling of Live Objects, Part II: Design and Experimental Investigation," Proc. IEEE/ASME AIM1999, Atlanta GA, USA, September 18-23, 1999, 360-366.
DOI: 10.1109/AIM.2001.936432. PDF.
Design Analysis of Compliant Graspers for Automated Live Object Handling
This work presents a detailed design analysis of a compliant robotic grasper for automated transfer of live broilers. Using explicit dynamic FEA, the study characterizes how damping in soft fingers affects contact forces and stresses, offering validated insights for humane, damage-free handling in high-throughput poultry processing.
Kok-Meng Lee and Chih-Hsing Liu, "Explicit dynamic finite element analysis of an automated grasping process using highly damped compliant fingers," Computers and Mathematics with Applications. Sep 2012, 64(5): 965-977.
DOI: 10.1016/j.camwa.2012.02.033. PDF.
Kok-Meng Lee, Jeffry Joni, and Xuecheng Yin, "Compliant Grasping Force Modeling for Handling of Live Objects," Proc. 2001 IEEE ICRA, Seoul, Korea, May 21-26, 2001, 1059-1064.
DOI: 10.1109/ROBOT.2001.932734. PDF.
Kok-Meng Lee, "Kinematic Analysis of a High-speed Live Broiler Transfer Mechanism," Proc. 2000 Japan-USA Symposium on Flexible Manufacturing Systems, Arbor, MI, July 23-26. PDF.
Advancing Automation in Poultry Processing
Prototype and Experimental Validation of Compliant Grasping for Automated Live Object Handling
This project delivered a significant breakthrough in automating the transfer of live birds to a shackle line—an application driven by real- world industry needs. Jointly supported by the U.S. Poultry & Egg Association, Georgia State Agricultural Technology Research Program, and equipment manufacturers, the system not only impacted commercial poultry operations but also served as a valuable testbed for validating dynamic models of compliant robotic graspers.
A. Bruce Webster and Kok-Meng Lee, "Automated shackling: how close is it?" Poultry Int., Vol. 42, Number 4, April 2003, 28- 36. PDF.
K-M. Lee, Automated Transfer of Live Objects to Shackle Line Method and Apparatus, US Patent 6,623,346 (September 23, 2003).
6-DOF PM Motor with Decoupled Force/Torque Compensation for Minimal Bearing Reaction
This study presents the design of a PM motor capable of simultaneous 6-DOF force/torque actuation. A novel decoupled compensation method is developed to minimize bearing reactions during operation. The work advances the design of multi-axis actuators for applications requiring precise, low-interference force and torque control, such as robotic manipulation, haptics, and satellite positioning systems.
Kun Bai, Kok-Meng Lee, Jun Cao, Ruoyu Xu, and Lei Li, "Design and decoupled compensation methods of a PM motor capable of 6-D force/torque actuation for minimum bearing reaction," IEEE Trans. on Mechatronics. Oct 2017, 22(5): 2252-2264.
DOI: 10.1109/TMECH.2017.2713397. PDF.
Kok-Meng Lee, Liman Yang, Kun Bai, and Jingjing Ji, "An efficient flexible division algorithm for predicting temperature-fields of mechatronic system with manufacturing applications," IEEE Trans. on Mechatronics. Aug 2017, 22(4): 1818-1827.
DOI: 10.1109/TMECH.2017.2715559. PDF.
Kun Bai, Kok-Meng Lee, Jun Cao, and Bingjie Hao, "Analytical development of a minimum bearing reaction twin-motor for duplex machining, " IEEE/ASME AIM2015, July 7-11, Busan, Korea.
DOI: 10.1109/AIM.2015.7222746. PDF.
Harnessing Distributed Redundant Inputs for Precision Actuation, Stability, and Fault Tolerance
These studies highlight how distributed redundant inputs in PM motor design enable decoupled force/torque control to minimize bearing reactions, suppress machining chatter, and maintain operation under open-circuit faults—enhancing precision, stability, and fault tolerance in high-performance systems.
Kun Bai, Kok-Meng Lee, Jun Cao, Ruoyu Xu, and Lei Li, "Design and decoupled compensation methods of a PM motor capable of 6-D force/torque actuation for minimum bearing reaction," IEEE Trans. on Mechatronics. Oct 2017, 22(5): 2252-2264.
DOI: 10.1109/TMECH.2017.2713397. PDF.
Kun Bai, Jialin Qin, Kok-Meng Lee, and Bingjie Hao, "Design and chatter prediction analysis of a duplex face turning machine for manufacturing disk-like workpieces," Int. J. of Machine Tools and Manufacture. May 2019, 140: 12-19.
DOI:10.1016/j.ijmachtools.2019.01.006.
Kok-Meng Lee, Lei Li, Kun Bai, Xiaoping Ouyang, and Huayong Yang, "Harmonic model and remedy strategy of multiphase PM motor under open-circuit fault, IEEE/ASME Trans. on Mechatronics. Jun 2019, 24(3): 1407-1419.
DOI:10.1109/TMECH.2019.2906850. PDF.
Closed-Form Field-Based Modeling for 3D Eddy Current (EC) Sensing and Embedded Diagnostics
Building on DCS method, an analytical framework was developed to model 3D EC fields in magnetic conductors using a closed-form, field-based formulation. This approach enables simultaneous estimation of electrical conductivity, material thickness, and liftoff, offering both physical interpretability and practical implementation. As a foundational tool, it advances nondestructive evaluation and embedded sensing for real-time monitoring in applications such as duplex lathe machining of thin-wall components.
Bingjie Hao, Kok-Meng Lee, and Kun Bai, "Distributed current source modeling method for 3D eddy current problem in magnetic conductor with J-φ formulation," J. of Computational Physics. Jan 2020, 401: 109027-1~16.
DOI: 10.1016/j.jcp.2019.109027. PDF.
Kok-Meng Lee, Bingjie Hao, Min Li, and Kun Bai, "Multi-parameter eddy-current sensor design for conductivity estimation and simultaneous distance and thickness measurements," IEEE Trans. on Industrial Informatics. Mar 2019, 15(3): 1647-1657.
DOI: 10.1109/TII.2018.2843319. PDF.
Jungyoul Lim and Kok-Meng Lee, "Distributed multi-level current models for design analysis of electromagnetic actuators," IEEE/ASME Trans. on Mechatronics. Oct 2015, 20(5): 2413-2424.
DOI: 10.1109/TMECH.2014.2382532. PDF.
Displacement and Strain Field Reconstruction for Thin-Wall Machining Dynamics
A modal expansion method was developed to reconstruct displacement and strain fields in thin-wall components during machining, enabling real-time insight into structural dynamics. This approach supports chatter suppression and stability analysis in thin-plate turning, advancing model-based control for precision manufacturing.
Man Yu, Jiajie Guo, and Kok-Meng Lee, "A modal expansion method for displacement and strain field reconstruction of a thin-wall component during machining," IEEE/ASME Trans. on Mechatronics. Jun 2018, 23(3): 1028-1037.
DOI: 10.1109/TMECH.2018.2790922. PDF.
Haifeng Ma, Jiajie Guo, Jianhua Wu, Zhenhua Xiong, and Kok-Meng Lee, "An active control method for chatter suppression in thin plate turning," IEEE Trans. on Industrial Informatics. Mar 2020, 16(3): 1742-1753.
DOI: 10.1109/TII.2019.2924829. PDF.
Jiajie Guo, Kok-Meng Lee, Man Yu, Haifeng Ma, and Zhenhua Xiong, "Regenerative effects of orthogonal chip dimensions on turning stability of thin-wall workpiece-tool coupled dynamics," IEEE/ASME Trans. on Mechatronics. Oct 2022, 27(5): 3601-3612.
DOI: 10.1109/TMECH.2021.3135808. PDF.
Advanced Eddy Current Techniques for Defect Characterization and Material Property Estimation
These studies advance eddy current testing through multi-directional scanning and coupled field modeling, enabling not only reliable discrimination between defects such as cracks and cavities, but also the simultaneous estimation of geometric parameters and electrical conductivity. Together, they significantly enhance the accuracy and versatility of nondestructive evaluation methods for structural health monitoring and material diagnostics.
Zhenya Guo, Kok-Meng Lee, Yiwen Zhu, and Zhenhua Xiong, "Multi-directional Scanning-based Eddy Current Testing for Cavity and Crack Discrimination," IEEE Sensors J. vol. 25, no. 17, 2025.
DOI: 10.1109/JSEN.2025.3593368. PDF.
Zhenya Guo, Kok-Meng Lee, and Zhenhua Xiong, "Effects of mechanical scanning speeds on eddy-current detection of cavity defects," IEEE/ASME Trans. on Mechatronics. Apr 2023, 28(2): 1104-1115.
DOI: 10.1109/TMECH.2022.3216986. PDF.
Kok-Meng Lee, Chun-Yeon Lin, Bingjie Hao, and Min Li, "Coupled parametric effects on magnetic fields of eddy-current induced in non-ferrous metal plate for simultaneous estimation of geometrical parameters and electrical conductivity," IEEE Trans. on Magnetics. Oct 2017, 53(10): 6202209.
DOI: 10.1109/TMAG.2017.2715831. PDF.
Wireless Embedded Sensing with Physics-Based Neural Networks for Magnetic Leadscrews
This paper presents a wireless embedded sensing system that leverages physics-based neural networks for simultaneous displacement and force estimation in magnetic leadscrews. By fusing field-based modeling with real-time data-driven inference, the system enables compact, non- contact sensing ideal for robotic series elastic actuator (SEA) applications where traditional sensors are impractical or intrusive.
Wenjing Li, Kok-Meng Lee, Min Geun Park, and Zixin Que,"Development of a wireless embedded sensing system with physics-based neural networks for simultaneous displacement and force measurements of a magnetic leadscrew," IEEE Robotics and Automation Letters. Feb 2025.
DOI:10.1109/LRA.2025.3544513. PDF. Video
Wenjing Li and Kok-Meng Lee, "Magnetic stiffness of soft continuous permanent magnet and its parametric effects on a magnetic series elastic actuator control system," IEEE/ASME AIM2024, Boston, MA, USA, July 15-19, 2024.
DOI: 10.1109/AIM55361.2024.10637241. PDF.
Modeling Nonlinear Nerve Dynamics for Selective Neural Activation
This paper investigates nonlinear nerve dynamics and introduces a field- based activation descriptor that improves the precision of selective stimulation, particularly for targeting deep nerves. The findings advance neuromodulation strategies by enhancing the ability to predict and control neural responses in complex anatomical environments.
Junwei Li, Kok-Meng Lee, and Kun Bai, "Analytical and experimental investigation of temporal interference for selective neuromuscular activation," IEEE Trans. on Neural Systems & Rehabilitation Engineering. Dec 2020, 28(12): 3100-3112.
DOI: 10.1109/TNSRE.2020.3038025. PDF.
Junwei Li and Kok-Meng Lee, "Muscle-driven joint-torque estimation based on voltage-torque mapping of electrical impedance sensing," IEEE Sensor J. Jul 2023, 23(13): 13966-13977.
DOI: 10.1109/JSEN.2023.3277855. PDF.
Spine Curve Reconstruction from Back Surface Contours
This study presents a noninvasive method to reconstruct the sagittal spine curve from back surface contours. The result enables subject-specific parameter identification of a spine-equivalent beam model for predicting lumbar forces, supporting personalized biomechanical analysis.
Qiuping Ding, Jiaoying Jiang, and Kok-Meng Lee, "Reconstruction of a human spine curve in the sagittal plane from the measured contour of the human back," IEEE Trans. on Instrumentation & Measurement. Mar 2024, 73:1-10.
DOI: 10.1109/TIM.2024.3378289. PDF.
Qiuping Ding, Kok-Meng Lee, Jiaoying Jiang, and Jiajie Guo, "Subject-specific parametric identification of a spine-equivalent beam model for lumbar force prediction in sagittal plane," IEEE Trans. on Instrumentation & Measurement. Aug 2024, 73: 7507415.
DOI: 10.1109/TIM.2024.3451588. PDF.
Yang Xie and Kok-Meng Lee, "Spine-equivalent beam model with in-vivo validation for analysis of sagittal standing flexion," IEEE Trans. on Mechatronics. Aug 2020, 25(4):
DOI: 10.1109/TMECH.2020.3007652. PDF.