Publications:

1. C. L. Clark and B. Xie, “A learning-based method for computing self-motion manifolds of redundant robots for real-time fault-tolerant motion planning,” IEEE Transactions on Robotics, 2025
2. M. Y. Metwly, B. Luckett, C. L. Clark, J. He, and B. Xie, “Neural network based digital twin health monitoring of BLDC motor drives for robots,” in 2025 IEEE Applied Power Electronics Conference and Exposition (APEC). IEEE, 2025, pp. 919–924
3. M. Y. Metwly, C. L. Clark, J. He, and B. Xie, “A review of robotic arm joint motors and online health monitoring techniques,” IEEE Access, 2024
4. M. Y. Metwly, V. M. Logan, C. L. Clark, J. He, and B. Xie, “A robust online diagnostic strategy of inverter open-circuit faults for robotic joint BLDC motors,” Machines, vol. 12, no. 7, p. 430, 2024
5. M. Y. Metwly, C. L. Clark, B. Xie, and J. He, “Design optimization of high-torque BLDC motors with various slot/pole combinations for robotic applications,” in 2024 IEEE Energy Conversion Congress and Exposition (ECCE). IEEE, 2024, pp. 7380–7385
6. M. Y. Metwly, L. Clark, B. Xie, and J. He, “Robust online diagnosis of inverter open-circuit switching faults for robotic joints with BLDC motors,” in 2024 IEEE Applied Power Electronics Conference and Exposition (APEC). IEEE, 2024, pp. 2308–2313
7. C. Clark, M. Metwly, J. He, B. Xie, "Predicting Fault-Tolerant Workspace of Planar 3R Robots Experiencing Locked Joint Failures Using Mixture Density Networks", 2023 IEEE Conference on Systems, Man, and Cybernetics, October 1-4, 2023, Honolulu, Oahu, Hawaii, USA.
8. M. Y. Metwly, L. Clark, B. Xie, and J. He, “Optimally designed BLDC motor equipped with different winding layouts for robotic arms,” in 2023 IEEE Energy Conversion Congress and Exposition (ECCE). IEEE, 2023, pp. 6093–6098