Zhaoheng Liu

B.Ing. (N.-E. Heavy Machinery Inst., Chine), M.Sc.A., Ph.D. (Université de Sherbrooke)


Département de génie mécanique
Bureau : A-1914
Téléphone :514 396-8507
Télécopieur: 514 396-8530

zhaoheng.liu@etsmtl.ca



Accueil

Le professeur Liu est spécialisé dans la modélisation et l’analyse dynamique des systèmes mécaniques multi-corps et des problèmes vibratoires dans les procédés d’usinage robotisés. Ses intérêts en recherche portent également sur la dynamique des véhicules, l’analyse par éléments finis, la détection et le contrôle de broutement, et l’optimisation des systèmes dynamiques.

Le professeur Liu s’est joint à l’ÉTS à l'automne 2002. Il a travaillé pendant plus de 6 ans dans l’industrie en recherche et développement (R&D)  de 1996 à 2002 (CMLabs, MAYAHTT). Il a fait son stage postdoctoral à l'Université de Waterloo en « System Design Engineering » après l'obtention de son diplôme de doctorat à l'Université de Sherbrooke en 1995. Avant de venir au Canada pour ses études supérieures, il était ingénieur à Research Institute of Machinery Science and Technology, Beijing, Chine.


 



Enseignement

Cours dispensés à l'ÉTS
MEC222 - Dynamique (3 cr.)
MEC423 -  Méthode des éléments finis des corps déformables (4 cr.)
MEC525 - Conception vibratoire et dynamique des structures (4 cr.)
SYS804 - Vibrations avancées (4 cr.)
MEC795 - Projets de fin d'études en génie mécanique (4 cr.)
MTR871 - Lectures dirigées (3 cr.)

Innovation pédagogique
Projet PSIRE - Volet enseignement (2008-2009) : Introduction du logiciel MD Adams dans le cours MEC222.



Recherche

Thèmes de recherche
Dynamique des systèmes multicorps
Dynamique des véhicules
Analyse dynamique non-linéaire
Robotique
Vibration
Analyse de vibrations dans les procédés robotisés
Simulation des procédés de formage des métaux
Analyse par la méthode des éléments finis
Fiabilité et optimisation
Géométrie algorithmique 3D
 
Projets de recherche en cours
Dynamique, vibration et contrôle du meulage robotisé



Recrutement des étudiants gradués
Projets de maîtrise et de doctorat



Groupes de recherche

Membre des groupes de recherche suivants :
DYNAMO
AEROETS
 



Associations professionnelles

Membre des associations professionnelles suivantes :
Ordre des ingénieurs du Québec (OIQ)
American Society of Mechanical Engineers (ASME)
Association canadienne en vibrations de machines (ACVM)



Publications

Articles de revue
D. Hao, W. Wang, Z. Liu and C. Yun, 2019, “Experimental study of stability prediction for high-speed robotic milling of aluminium”, Journal of Vibration and Control, Accepté en Septembre 2019.
Pham, M.-N., Hamelin, P., Hazel, B., Liu, Z., 2019, “A two-stage state feedback controller supported by disturbance-state observer for vibration control of a flexible-joint robot”, Accepté en juillet 2019, Robotica.
Li, W., Vu, V.-H., Liu, Z., Thomas, M., Hazel, B, 2018, “Extraction of modal parameters for identification of time-varying systems using Data-Driven Stochastic Subspace Identification”, Journal of Vibration and Control, 24(20), 4781-4796.
Z. Liu, K.-w. Chung, W. Wang, 2018, A perturbed nonlinear model of an articulated vehicle with driver control, Chaotic Modeling and Simulation (CMSIM) 3: 295-304.
Stéphane Agnard, Bruce Hazel, Zhaoheng Liu, 2018, “Study of grinding tool profiling for robotic processes”, Machininng Science and Technology, 22(2), 203-224, 2018
M. Kedadouche, Z. Liu, M. Thomas, 2018, "Bearing Fault Feature Extraction Using Autoregressive Coefficients, Linear Discriminant Analysis and Support Vector Machine Under Variable Operating Conditions", A. Timofiejczuk et al. (eds.), Advances in Condition Monitoring of Machinery in Non-Stationary Operations, Applied Condition Monitoring 9, Springer, pp. 339-351.
J.-L. Curtat, J. Lanteigne, H. Champliaud, Z. Liu, J. B. Lévesque, 2017, “Influence of hammer peening on fatigue life of E309L steel used for 13%Cr-4%Ni blade runner repairs”, Int. Journal of Fatigue, 100(1), 68-77, 2017
Wei Wang, Fei Liu, Zhaoheng Liu, Chao Yun, 2017, "Prediction of depth of cut for robotic belt grinding", Int. J. of Advanced Manufacturing Technology, 91(1), 699-708, 2017.
Li, W., Vu, V.-H., Liu, Z., Thomas, M., Hazel, B, 2017, “Application of adaptable functional series vector time-dependent autoregressive model for extraction of real modal parameters for identification of time-varying systems”, Measurement: Journal of the Int. Measurement Confederation, 103, 143-156, 2017.
S. Ghafarrizadeh, M. Tahvilian, J.-F. Chatelain, Z. Liu, H. Champliaud, G. Lebrun, 2017, “Numerical simulation of ball end milling with SPH method”,  Int. J. of Advanced Manufacturing Technology, 88(1), 401-408, 2017.
Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Bruce Hazel, 2017, “Operational modal analysis of a light-weight robot with a rotating tool installed at the end-effector”, Proc. IMechE, Part C: Journal of Mechanical Engineering Science, 231(9), 1664-1676, 2017.
M. Kedadouche, Z. Liu, (2017), “Fault feature extraction and classification based on WPT and SVD: application to element bearings with artificially created faults under variable conditions” Proc. IMechE, Part C: Journal of Mechanical Engineering Science, 231(22), 4186–4196.
Tahvilian, H., Hazel, B., Rafieian, F., Liu, Z., Champliaud, H., 2016, “Force model for impact cutting grinding with a flexible robotic tool holder”, Int. J. of Advanced Manufacturing Technology, 2016, 85, 133-147.
M. Kedadouche, Z. Liu, V.-H. Vu, 2016, “A new approach based on OMA-empirical wavelet transforms for bearing fault diagnosis”, Measurement: Journal of the Int. Measurement Confederation, 90, 292-308.
Z. Liu, K. Hu, K.-W. Chung, 2016, “Nonlinear Analysis of a Closed-Loop Tractor-Semitrailer Vehicle System with Time Delay”, Mechanical Systems and Signal Processing,76-77, 696-711, 2016.
Viet-Hung Vu, Z. Liu, M. Thomas, Wenchao Li, Bruce Hazel, 2016, “Output-Only Identification of Modal Shape Coupling in a Flexible Robot by Vector Autoregressive Modeling”, Mechanism and Machine Theory, 97, 141-154.
Tahvilian, M., Liu, Z., Champliaud, H., Hazel, B., Lagacé, M., 2015, “Characterization of grinding wheel grain topography under different robotic grinding conditions using confocal microscope”, Int. J. of Advanced Manufacturing Technology,  80(5), 1159-1171, 2015
Stéphane Agnard, Zhaoheng Liu, Bruce Hazel, 2015, "Material Removal and Wheel Wear Models for Robotic Grinding Wheel Profiling", Procedia Manufacturing, Volume 2, 2015, Pages 35-40.
Rafieian, F., Hazel, B., Liu, Z., 2014, “Vibro-impact dynamics of material removal in a robotic grinding process”, Int. J. of Advanced Manufacturing Technology, 73 (5-8), 949-972, 2014.
Rafieian, F., Girardin, F., Liu, Z., Thomas, M., Hazel, B., 2014, “Angular analysis of the cyclic oscillations in a robotic grinding process”, Mechanical Systems and Signal Processing, 44 (1-2), 160-176, 2014.
Lessard, J., Bigras, P., Liu, Z., Hazel, B., 2014 “Characterization, Modeling and Vibration Control of a Flexible Joint for a Robotic System”, Journal of Vibration and Control, 20(6), 2014, pp.943-960.
Farzad Rafieian, Bruce Hazel, Zhaoheng Liu, 2014, "Regenerative Instability of Impact-cutting Material Removal in the Grinding Process Performed by a Flexible Robot Arm", Procedia CIRP, Volume 14, 2014, Pages 406-411.
Tahvilian, M., Liu, Z., Champliaud, H., Hazel, B., 2013, “Experimental and FE analysis of Temperature and Energy Partition to the Workpiece During Grinding Process with Flexible Robot”, Journal of Material Processing Technology, 213(12), 2292-2303.
Dominique Thuot,  Z. Liu, H. Champliaud, J. Beaudry, P.-L. Richard, 2013, "Remote robotic underwater grinding system and modeling for rectification of hydroelectric structures", Robotics and Computer-Integrated Manufacturing, 29 (1), 2013, pp.86-95. .
Tahvilian, M., Champliaud, H., Liu, Z., Hazel, B., 2013, “Study of Workpiece Temperature Distribution in the Contact Zone During Robotic Grinding Process Using Finite Element Analysis”, Procedia CIRP, 12 (2013), pages 205-210. doi:10.1016/j.procir.2013.09.036
B. Lacroix, Z. Liu, P. Seers, 2012, “A Comparison of Two Control Methods for Vehicle Stability Control by Direct Yaw Moment”, Applied Mechanics and Materials, 120, 203-217, 2012.
K.-W. Chung and Z. Liu, 2011, "Nonlinear Analysis of Chatter Vibration in a Cylindrical Transverse Grinding Process with Two Time Delays Using a Nonlinear Time Transformation Method", Nonlinear Dynamics, 66(4), 441-456, 2011.
F.-E. Rhéaume, H. Champliaud and Z. Liu, 2009, "Understanding and Modeling the Torsional Stiffness of Harmonic Drives through Finite Element Method", Proc. IMechE, Part C: Journal of Mechanical Engineering Science. 223(2), 2009, 515-524.
J. Zeng, Z. Liu and H. Champliaud, 2008, "MEF Dynamic Simulation and Analysis of the Roll-Bending Process for a Conical Tube", Journal of Materials Processing Technology, 198(1-3), 2008, 330-343.
S. Roy and Z. Liu, 2008, "Road Vehicle Suspension and Performance Evaluation using a Two Dimensional Vehicle Model", Int. J. of Vehicle Systems Modeling and Testing, 3(1/2), 68-93, 2008.
L. Lacasse, A. Tahan and Z. Liu, 2008, "Robust Algorithms for Automatic Characterization and Detection of Wood Board Surface Defects", Quality Engineering, 20(2), 221-231, 2008.
Z. Liu, 2007, "Characterization of Optimal Human Driver Model and Stability of a Tractor-Semitrailer Vehicle System with Time Delay", Mechanical Systems and Signal Processing, 21(5), 2007, 2080-2098.
Z. Liu and G. Payre, 2007, "Stability Analysis of Doubly Regenerative Cylindrical Grinding Process", Journal of Sound and Vibration, 301(3-5), 2007, 950-962.
J.-H. Zhao, Z. Liu and T.-M. Dao, 2007, "Reliability Optimization Using Multiobjective Ant Colony System Approaches", Journal of Reliability Engineering and System Safety, 92(1), 109-120.
Z. Liu and G. Payre, 2007, "Global Bifurcation Analysis of a Nonlinear Road Vehicle System", ASME Journal of Computational and Nonlinear Dynamics, octobre, 2(4), 308-315.
B. Lacroix, P. Seers and Z. Liu, 2006, "Design of a Passive Nonlinear Damping for a Road Race Car Application", SAE Paper (Society of Automotive Engineers), Paper No. 2006-01-1984.
K. Melhem, Z. Liu and A. Loria, 2005, "A Unified Framework for Dynamics and Lyapunov Stability of Holonomically Constrained Rigid Bodies", Int. Journal of Advanced Computational Intelligence and Intelligent Informatics, 9(4), 387-394.
Z. Liu, G. Payre and P. Bourassa, 2004, "Stability and Oscillations in a Time-Delayed Vehicle System with Driver Control", Nonlinear Dynamics, 35(2), 159-173.
 
Chapitre de livres
K. Melhem and Z. Liu, 2005, "A Unified Modeling and Stabilization Framework for Interconnected Rigid Bodies", Intelligent Systems at the Service of Mankind, Vol. 2, édité par W. Elmenreich et al., ISBN 3866080522, pp. 141-160.
 
Editeur de compte rendu des conférences
M. Thomas, Z. Liu et F. Léonard, (Editeurs), Compte rendu du 32ième Séminaire sur la Vibration des Machines, ACVM-CIRI, 29-31 octobre, 2014, Montréal, Québec, Canada, ISBN 978-0-9939577.
M. Thomas, Z. Liu et E. Bouthillier, (Editeurs), Compte rendu du 24ième Séminaire sur la Vibration des Machines, ACVM, 25-27 octobre, 2006, Montréal, Québec, Canada, ISBN 2-921145-61-8.
 
Publications dans des comptes rendus de conférences avec arbitrage
Yvan Soucy, Julien Joule, Zhaoheng Liu, “Investigation of Force Limited Vibration Through Testing of Payloads Mounted on a Rover and a Satellite”, Spacecraft and Launch Vehicle Dynamic Environments Workshop, June 4-6, 2019, The Aerospace Corporation, EI Segundo, CA, USA.
M. Kedadouche, Z. Liu, M. Thomas, 2019, “Early bearing defect detection in a noisyenvironment based on a method combiningsingular value decomposition and empiricalmode decomposition”, July 8-10, 2019, SURVISHNO Conference, INSA-Lyon, France.
 T.-T. Do, V.-H. Vu, Z. Liu, “Analytical modal analysis of flexible joint manipulators”, Proceedings of the 27th CANCAM, May 27-30, 2019, Sherbrooke, Canada.
T.-T. Do, V.-H. Vu, Z. Liu, “Automatic Generation of Inverse Dynamics for Industrial Robots with Flexible Joints Using a Computer Algebra”, Applications of Computer Algebra - ACA 2019, July 16-17, Montreal, Canada.
Mourad Kedadouche, Sun Yulan, Zhaoheng Liu, Marc Thomas, Guillaume Charland-Arcand, Adrien Beck. 2018. « Design of a vibration isolator for the inertial navigation system of an autopilot dedicated to the operation of light drones ». 2018 9th International Conference on Mechanical and Aerospace Engineering (ICMAE) (Budapest, Hungary, Jul. 10-13, 2018) p. 73-78. IEEE.
Mourad Kedadouche, Zhaoheng Liu, Marc Thomas. 2018. « Bearing fault feature extraction using autoregressive coefficients, linear discriminant analysis and support vector machine under variable operating conditions ». Advances in Condition Monitoring of Machinery in Non-Stationary Operations : Proceedings of the 5th International Conference on Condition Monitoring of Machinery in Non-stationary Operations, CMMNO’2016, 12–16 September 2016, Gliwice, Poland (Gliwice, Poland, Sept. 12-16, 2016) p. 339-352. Springer.
Z. Liu, K.-w. Chung, W. Wang, 2017, "A perturbed nonlinear model of an articulated vehicle with driver control", 10th  Chaos 2017 Int. Conference, Chaotic Modeling and Simulation, May 30 - June 2 , 2017, Barcelona, Spain.
V.-H. Vu, Z. Liu, M. Thomas, T. M. Amir, B. Hazel, 2016, "Identification of frequency response functions of a flexible robot as tool-holder for robotic grinding process", 42nd Annual Conference of IEEE Industrial Electronics Society (IEEE IECON 2016), October 24-27, 2016, Florence, Italy.
M. Kedadouche, Z. Liu, M. Thomas, 2016, "Feature extraction and selection using autoregressive coefficient and linear discriminant analysis: Application to bearings operating in variable conditions", Int. Congress on Technical Diagnostics & Int. Conf. on Condition Monitoring of Machinery in Non-Stationary Operations (ICTD-CMMNO 2016), 12-16 Sep. 2016, Gliwice, Poland.
Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Amir Masoud Tahvilian and Bruce Hazel, "Dynamic forces identification and modeling of a robotic grinding process", International Conference - Surveillance 8, October 20-21, 2015, Roanne Institute of Technology, France.
Wenchao Li, Viet-Hung Vu, Zhaoheng Liu, Marc Thomas, Bruce Hazel, "Automatic structural mode extraction for time-varying structures via vector time-dependent autoregressive model", International Conference - Surveillance 8, October 20-21, 2015, Roanne Institute of Technology, France.
Santos, T, Liu, Z., Hazel, B. (2015), “Study and validation testing of the dynamics of a robotic system with flexible links and joints”, Proceedings of 2015 IEEE International Conference on Mechatronics and Automation (ICMA), 2015 IEEE-ICMA, August 2 - 5, Beijing, China.
Agnard, S., Liu, Z., Hazel, B., (2015) "Material removal and wheel wear models for robotic grinding wheel profiling", 2nd Int. Materials, Industrial, and Manufacturing Engineering Conference, MIMEC2015, 4-6 February, 2015, Bali, Indonesia.
Vu, V.-H., Thomas, M., Liu, Z. and Hazel, B., (2014) "Spectrum construction for non stationary vibration: Application to a working robot", Analyse Vibratoire Expérimentale, 4ième Colloque francophone, Blois, France, 18-20 novembre, 2014
Li, W., Vu, V.-H., Liu, Z., Thomas, M. and Hazel, B.,(2014) "Basis Function Selection Criterion for Modal Monitoring of Non Stationary Systems", CMVA-CIRI 2014, 32th Machinery Vibration CMVA Annual Seminar, Montreal, Canada, October 29-31, 2014.
Rafieian, F., Hazel, H., Liu, Z. (2014), "Regenerative instability of impact-cutting material removal in the grinding process performed by a flexible robot arm", HPC2014 - 6th CIRP International Conference on High Performance Cutting, University of California, Berkeley, June 23-25, 2014.
Santos, T, Liu, Z., Hazel, B. (2013), “Étude des propriétés vibratoires d’un système robotique en opération de meulage par modélisation multi-corps flexibles”, Congrès Français de Mécanique 2013 (CFM2013), Bordeaux, France, 26-30 août 2012. 
Tahvilian, M., Liu, Z. Champliaud, H., Hazel, B. (2013), “Influence of grit shape and cutting edge of materail removal mechanism of a single abrasive in flexible robotic grinding”, ASME 2013 Int. Mech. Eng. Congress & Exposition (IMECE2013), San Diego, USA, Nov. 13-21, 2013.
Tahvilian, M., Champliaud, H., Liu, Z., Hazel, B. (2013), “Chop formation analysis of single grit cutting action in robotic grinding processes”, COM2013 – Conference of Metallurgists, MS&T13 – Advanced in Hydroelectric Turbine Manufacturing and Repair, Montreal, Canada, October 27-31.
Agnard, S., Liu, Z., Hazel, B. (2013), “Modeling and experimental work on robotic grinding tool profiling through tool orientation control for repair of high curvature surfaces”, COM2013 – Conference of Metallurgists, MS&T13 – Advanced in Hydroelectric Turbine Manufacturing and Repair, Montreal, Canada, October 27-31.
Tahvilian, M., Champliaud, H., Liu, Z., Hazel, B., “Study of Workpiece Temperature Distribution in the Contact Zone During Robotic Grinding Process Using Finite Element Analysis”, 8th Edition of the CIRP Conference Series on Intelligent Computation in Manufacturing Engineering: CIRP ICME ’12, Gulf of Naples, 18-20 July, 2012. (Procedia CIRP, 12 (2013), pages 205-210)
Lessard, J., Bigras, P., Liu, Z., Hazel, B., “Vibration Control and Experimental Investigation of a Robotic System with Flexible joints”, The 6th Asian Conference on Multibody Dynamics, Shanghai, Chine, August 26-30, 2012.
F. Girardin, F. Rafieian, Z. Liu, M. Thomas and B. Hazel, "Using Angular Speed Measurement with Hall Effect sensors to Observe Grinding Operation with Flexible Robot", International Conference Surveillance 6, Université de Technologie de Compiègne, France, October 25-26, 2011.
B. Hazel, F. Rafieian and Z. Liu, "Impact Cutting and Regenerative Chatter in Robotic Grinding", ASME 2011 International Mechanical Engineering Congress & Exposition, Denver, Colorado, USA, November 11-17, 2011.
J. Lessard, G. Swiatek, Z. Liu and B. Hazel, "Flexible Multtibody Dynamics and Effects of Nonlinear Joint stiffness for Vibration Analysis in a Robotic Grinding Process", Multibody Dynamics 2011, ECCOMAS Thematic Conference, Brussels, Belgium, 4-7 July, 2011.
F. Mokdad, V. H. Vu, M. Thomas, F. Rafieian, Z. Liu and B. Hazel, "Online Modal Analysis of a Flexible Robot During Grinding", IOMAC'11 - 4th Int. Operational Modal Analysis Conference, Istanbul, Turkey, 9-11 May, 2011.
G. Swiatek, Z. Liu and B. Hazel, "Dynamic simulation and configuration dependant modal identification of a portable flexible-link and flexible-joint robot", 2010 CMVA Seminar, October 27-29, 2010, Université Laval, Québec, Canada (Prix d'excellence - meilleur article étudiant).
J. Chen and Z. Liu, "Modeling and Parameter Identification of a Tractor Semitrailer/Driver Closed-loop System Using the Simulated Annealing (SA) Optimization Approach", 2010 IEEE Int. Conf. on Information and Automation, Harbin, China, June 20-23, 2010.
F. Rafieian, Z. Liu and B. Hazel, "Dynamic Model and Modal Testing for Vibration Analysis of Robotic Grinding Process with a 6 DOF Flexible-Joint Manipulator", IEEE Int. Conference on Mechatronics and Automation, IEEE ICMA 2009, Changchun, China, Aug. 9-12, 2009.
J. Li, Z. Liu, M. Thomas and J.-L. Fihey, "Dynamic Analysis of Manipulators with Flexible Joints and Flexible Links", Cinquième Conférence Internationale sur l'Automatisation Industrielle, Montréal, Québec, Canada, 11-13 juin 2007.
L. Lacasse, S.-A. Antoine, Z. Liu, "Automatic Characterization of Wood Board Surface Defects", Cinquième Conférence Internationale sur l'Automatisation Industrielle, Montréal, Québec, Canada, 11-13 juin 2007.
F.-É. Rhéaume, H. Champliaud and Z. Liu, "Simulating Strain wave Gearing Torsinal Stiffness using the Finite Element Method", 2006 Ansys Conference and Exhibition, Pittsburgh, PA, USA.
Z. Liu, G. Payre, "Chatter Onset Prediction of Doubly Regenerative Cylindrical Grinding Process", Proc. of the Second Int. Conf. on Dynamics, Vibration and Control, 23-26 August 2006, Beijing, China.
B. Lacroix, P. Seers and Z. Liu, "Race Car Suspension Design with a Nonlinear Damping", 2006 CMVA Seminar, October 23-26, 2006, Montreal, Canada.
S. Roy and Z. Liu, "Modeling and Simulation of a Parametric vehicle for Suspension and Performance Analysis", 2006 CMVA Seminar, October 23-26, 2006, Montreal, Canada (Prix d'excellence - meilleur article étudiant).
J.-H. Zhao, Z. Liu and T.-M. Dao, "Solving Reliability Optimal Design Problem using Ant Colony System (ACS) Approaches", Proc. Of the 15th Int. CIRP Design Seminar 2005, Shanghai, China, 22-26 May 2005, pp.32-40.
J.-H. Zhao, Z. Liu and T.-M. Dao, "Optimization of Mechanical Systems Reliability using Ant Colony Based Simulation Approach", Proc. Of the 16th IASTED int. Conf. on Modeling and Simulation, Cancun Mexico, May 18-20, 2005, pp. 182-187.
K. Melhem, Z. Liu and A. Loria, "A Unified Framework for Dynamics and Lyapunov Stability of Holonomically Constrained Rigid Bodies", IEEE Int. Conference on Computational Cybernetics (ICCC2004), Vienna University of Technology, Austria, August 30 - Septembre 1, 2004, 199-205.
M. Teichmann and Z. Liu, "Non Convex Mesh Penetration Distance for Rigid Body Dynamics", Siggraph 2004 Conference on Sketches & Applications, San Diego, Cal., July 27-31, 2004. (DOI: 10.1145/965443).