Optimal B-spline joint trajectory generation for collision-free movements of a manipulator under dynamic constraints. - Hiroaki Ozaki; Chang-Jun Lin (ICRA, 1996)

Feedback gain tuning by the complex method- application examples for an inverted pendulum and flexible arm control. - Tetsuji Shimogawa; Chang-Jun Lin; Hiroaki Ozaki (Adv. Robotics, 1998)

Collision-Free Trajectory Planning for a Two-Dimensional Mobile Robot by Optimizing Continuous Curves. - Hiroaki Ozaki; Chang-Jun Lin (J. Robotics Mechatronics, 1998)

A feedback control gain tuning for mechatronic systems by iterative trials. - Hiroaki Ozaki; Tetsuji Shimogawa; Chang-Jun Lin (IROS, 2001)