EDUCATION
| Year(s) | Degree | Field of Study | Institution |
| 9/2003-6/2008 | Ph.D | Mechatronics (State key Laboratary of Robotics and Systems) | Harbin Institute of Technology |
| 9/2001-7/2003 | Master | Mechatronics(State key Laboratary of Robotics and Systems) | Harbin Institute of Technology |
| 9/1997-7/2001 | Bachelor | Mechanical Engineering | Harbin Institute of Technology |
POSTDOCTORAL TRAINING
| Year(s) | Title | Field of Study | Institution |
| 7/2008-10/2010 | Post-doc | Underwater robot(National Key Laboratory of Underwater Vehicles) | Harbin Engineering University |
FACULTY ACADEMIC APPOINTMENTS
| Year(s) | Academic Title | Department | Academic Institution |
| 7/2008-9/2012 | Lecture | National Key Laboratory of Underwater Vehicles | School of Ship buiding and Naval Architecture, Harbin Engineering University |
| 9/2012-/8/2019 | Associate Professor | National Key Laboratory of Underwater Vehicles | School of Ship buiding and Naval Architecture, Harbin Engineering University |
| 9/2019-Current | Professor | National Key Laboratory of Underwater Vehicles | School of Ship buiding and Naval Architecture, Harbin Engineering University |
RESEARCH EXPERIENCE
2001-2003: Path Planning Research of a Service Mobile Robot
Advisor: Associate Professor Yunfeng Gao
Thesis abstract:
For the innate limitations of the principle of potential field，such as no path existing among the close-spaced obstacles，oscillations in narrow passages，oscillations in the presence of obstacles，trap situations due to local minima，unreachable goals near the obstacles，etc，this paper proposes an improved algorithm，which is adaptable to path planning of robots in the unknown complex environment and has a certain degree of learning ability．The effectiveness of this method is verified by simulation results.
2003-2008: Mechanism of the Bar-driven Mechatronic Bio-Prosthetic Hand and its Dynamic Control Algorithm
Advisor: Professor Hong Liu
Thesis Absrtract:
The biomechatronics HIT-DLR Prosthetic Hand II possesses similar externality of human hand, five fingers and 15 active joints. It’s actuated by 3 step-motors and weight 500g. Based on under-actuated and coupling principle, the fingers are designed with high agility, reliability and moralization idea. The three finger transmission scheme is developed. Actuated by one motor, the scheme can make the hand complete auto-adapted grasp for complex shaped objects. It can grasp coherently and stay original posture. The bio-thumb is designed. It can grasp along a cone surface actuated by a motor. The principle of under-actuate is realized in spatial mechanism by using ball bearing. ADAMS simulations are performed for thumb position in order to guarantee its success grasp for different objects. The calibrated torque sensor with stress-measuring which can interconvert is designed to measure base joint torque. Structure of prosthetic hand is designed with modularization and integration thinking, and the integration of structure, sensor, controlling and driving circuit system of the prosthetic hand is realized. The envelop designation is accomplished. It includes external perfection and mechanism modification. The loading auto-adapt grasp and fatigue experiments verify the designation ideas.
Kinematics of linkages of index finger and spatial linkages of thumb are analyzed. The parameters design of coupling linkages are completed and decided. The pro/E model of prosthetic hand is built and Adams simulation is finished. The statics model of index finger is constructed in order to determine the relationship between actuation torque and the support force from phalanges, which is verified through ADAMS simulation. Based on virtual spring approach, the dynamic analysis of under-actuated finger is achieved. The index finger is dynamically modeled in this way. Coherent results are obtained through MATLAB and ADAMS simulation. Experiments are performed to preliminarily verify the dynamic analysis.
As one of key issues of prosthetic hand, the performance of finger control plays an important role in the hand manipulation. A finger may be treated as a small robot, and the theories about robot kinematics and dynamics are also prepared for the finger control. Based on the platform of prosthetic hand control system, PID based position control and fitting curve experiments are performed. However, torsion spring of mid joint makes the finger’s kinematic control uncontrollable and causes control errors. To eliminate this character, dynamic control experiments are performed. Dynamic model are further proved from the experiments of dynamic based finger open loop fitting curve control. Experiments of curve fitting using computed torque and dynamic based PID control have eliminated the uncontrollable character in kinematic control, reduced fitting errors greatly and achieved ideal results.
When prosthetic hand works, the finger compliance is very important. As one of main ways realizing compliance, the impedance control is studied deeply and implemented widely. The static model of the finger has been verified through parallel position/torque control at first. Position and force based impedance control have been researched through the base joint sensor. Therefore, the grasp force of finger’s phalanges can be controlled through its base joint torque control. Compensated with inverse dynamic equation, the force based impedance control can not only realize accurate force tracking, but achieved finger’s dynamic control by the combination of curve fitting and force tracking.
2008-2010: Control Architecture and Technology of SY-II Remotely Operated Vehicle
Advisor: Professor Yongjie Pang
Thesis Abstract:
As the foundation of control and simulation, the model of Remote Operated Vehicles is one of the most important factors in its development. It influences the control and simulation results directly. Based on the motion equation of underwater vehicles, matrix form of 6 DOF Remote Operated Vehicles motion equations have been deduced. Three coordinates of surface, cable and underwater have been established. The force including gravity, buoyancy, hydrodynamics, thrust, oceanic current, cable effects. Therefore, the model of SY-II Remote Operated Vehicle has been established.
SY-II Remote Operated Vehicle’s control architecture includes surface control platform, embedded base control system, environmental and motion sensor system, executive machines, surface and underwater communication system architecture. SY-II is also an open frame underwater vehicles with 6 thrusters and a Cygnus as the only task sensor. Based on motion control and thickness measurement task, system resources have been distributed reasonably through the architecture. In addition the motion control system has been established with fault tolerance. Through pond and oceanic experiments, the control architecture has been proved to be safety, reliable and suitable for oceanic observation and task.
Motion control is one of necessary issues for Remote Operated Vehicle’s oceanic reliable missions. By taking the advantages of extended function link, the recurrent fuzzy network controller with improved particle swarm optimization obtains high anti-disturbance、adaptability and robustness. The oceanic and pond experiments have validated the effects of the controller.
The fault accommodation is the prerequisite issue for Remote Operated Vehicle oceanic safety and reliable mission. The 5 DOF force allocation model has been established according to SY-II redundancy thrusters layout. A second order slider fault observer has been adopted for fault detection on the basis of motion control residual. Energy function has been established for fault accommodation with recurrent fuzzy network. Thus the thrusters' fault detection and tolerance system has been established in order to improve its capacity of surviving and mission finish in complicated and unknown oceanic environments.
2012-2015: Under-actuated Autonomous Underwater Vehicle Group Formation Mapping under Weak Communication and Observation Conditions
National Natural Science Foundation of China (No. 51209050) Project Leader
(Youth Project)
Project abstract:
Multiple autonomous underwater vehicles(multi-AUV) formation mapping plays a very important role in tridimensional monitoring ocean enviroment by employing AUVs. This program will be engaged in under-actuated multi-AUV formation mapping. In full consideration of weak communication and observation conditions,this program will systematically and intensively carry out theoretic research on multi-AUV underwater acoustic communication, mutual localization, formation and map construction. Based on Laplacian potential associated fuction, investigation will be made on consensus problems of network with switching topography, in order to establish reliable underwater acoustic communication network. In accordance with nonlinear under-actuated AUV dynamic model, adaptive controller will be developed to compensate for sea currents influence, and therefore to progress relative position measurements and mutual localization technique between AUVs. A hierarchical control architecture will be introduced to upgrade multi-AUV formation ability of intelligence and enviromental adaptivity. The top controller will deal with online formation control through multi-AUV reinforcement learning on the basis of fuzzified classifier, while the bottom cotroller will implement formation maintenance through adaptive controller. For the mapping problem under weak observation conditions, this program will firstly sample and update local map in the combination with adaptive extended kalman filter and particle sampling based on underwater navigation system, and thereafter join local maps based on particle trees. Subprogram experiments and integrative simulation will be carried out in sequence. This program will lay theroretic and technology foundations on the settlement of under-actuated multi-AUV formation mapping under weak communication and observation conditions.
2016-2019: Research of Binocular Vision based Autonomous Underwater Vehicle-Manipulator System Autonomous Manipulation Method
National Natural Science Foundation of China (No. 51579053) Project Leader
(General Project)
Project abstract:
Autonomous underwater vehicle-manipulator system(AUVMS) autonomous manipulation is one of the important approaches to explore and exploit oceanic environment for underwater vehicle. It plays a great role in submarine rescue and oceanic engineering. In full consideration with underwater observation conditions and systematic dynamics, this project will systematically and intensively carry out research on stereo matching of binocular vision and 3 dimension depth measurement for manipulation target, autonomous manipulation trajectory optimization and coordinate control. At first, the optimal matching candidate will be obtained through the combination detection of edge and Scale Invariant Feature Transform vector, in order to improve the matching robustness. Joint matching cost will be calculated by using gray histogram and color features in the adaptive windows, so as to reduce the measurement errors of dimensional depths. Secondly, behavior based multi-objective optimization function will be established as adaptive function for operation task. Behavior rules will be iteratively trained through the fuzzy classification of environmental disturbance and the output of manipulation knowledge database. The ultimate satisfactory solution which reduces both internal disturbance and energy consumption will be obtained from pareto solution assemble. Therefore autonomous manipulation intelligence will be improved. Thirdly, adaptive controller will be designed on the basis of AUVMS dynamic model, in order to compensate the observed disturbance. Robust function will be introduced to further eliminate observation errors and model uncertainty. Integrative semi-physical simulation, tank and oceanic experiments will be carried out in sequence. This program will provide theoretic foundation and technology support for the settlement of binocular vision based AUVMS intelligent operation task!
2017-2021: Research on Underwater Robot Autonomous Environmental Perception and Undamaged Capture of Organism Target
National Natural Science Foundation of China (No. 61633009) Project Leader
(
Key Project)
Project abstract:
Great requirements have been proposed on environmental perception, intelligent decision making and undamaged capture of underwater robot for the offshore aquaculture biology machine capture. In full consideration with underwater observation conditions, soft biological target, system dynamics and hydrodynamics, this project will systematically and intensively carry out research on compliance visual perception of underwater complicated habitat, biological target rapid detection, recognition and tracking, nondisturbed capture trajectory optimization and undamaged capture for soft target by underwater vehicle-dual arm system. Similarity measurement and incremental learning of graphics library will be researched on the basis of target flexible representation under structural constraint, in order to ascertain the target exist in sight; rapid detection, accurate recognition and stable tracking will be realized through binary texture and stable contour of biological target; autonomous capture behavior database on the basis of man-machine harmony intelligence will be established, autonomous capture trajectories will be optimized through the classification of arm-vehicle disturbance and flow field disturbance of capture, hence the intelligence of autonomous capture will be improved, therefore undamaged (nondisturbance) capture of abalone will be realized; soft, multi-fingered griper and shape adapt fast envelope control method will be designed on the undamaged capture of soft target. Machine capture of offshore aquaculture biology will be realized economically through simulations, tank and offshore experiments. Great breakthrough will be boosted for autonomous environmental perception and undamaged capture of underwater robot!
