教育背景
工學(xué)學(xué)士 (機(jī)械工程),上海理工大學(xué), 中國(guó), 1997;
工學(xué)碩士 (電氣工程), 同濟(jì)大學(xué), 中國(guó), 2000;
工學(xué)博士 (計(jì)算機(jī)科學(xué)與技術(shù)), 清華大學(xué), 中國(guó), 2004.
科研概況
研究領(lǐng)域
機(jī)器人智能控制
視覺目標(biāo)跟蹤
研究概況
針對(duì)柔性機(jī)器人系統(tǒng)中非線性、多時(shí)標(biāo)等特點(diǎn)，提出了新穎的模糊奇異攝動(dòng)模型，并在此基礎(chǔ)上設(shè)計(jì)了一套完整的凸優(yōu)化解決方案。代表性成果分別以Regular Paper形式發(fā)表于IEEE Trans. on Fuzzy Systems和Full Paper形式發(fā)表于Fuzzy Sets and Systems。
針對(duì)網(wǎng)絡(luò)環(huán)境中信息丟包、延時(shí)等問(wèn)題，研究了利用Markov跳變模型描述其系統(tǒng)行為的方法，并利用凸優(yōu)化方法解決了存在執(zhí)行器飽和效應(yīng)干擾時(shí)的魯棒控制與濾波問(wèn)題。進(jìn)一步，針對(duì)跳變模態(tài)難以實(shí)時(shí)測(cè)量的特點(diǎn)，研究了與模態(tài)無(wú)關(guān)的控制器與濾波器的設(shè)計(jì)方法。這些結(jié)果相比現(xiàn)有工作有較大程度的改善，相關(guān)研究方法還被推廣于活動(dòng)周期系統(tǒng)的模型簡(jiǎn)化等問(wèn)題。研究成果已發(fā)表于IEEE Trans. On Automatic Control、IEEE Trans. on Circuits and Systems II、以及Automatica等國(guó)際期刊。
針對(duì)移動(dòng)機(jī)器人和空間機(jī)器人系統(tǒng)，開展了環(huán)境建模和遙操作等方面的研究。針對(duì)室外車輛跟蹤提出的具有融入對(duì)稱性特征的隨機(jī)融合機(jī)制，將概率圖模型和半監(jiān)督學(xué)習(xí)機(jī)制引入跟蹤框架，以改善在線學(xué)習(xí)能力。與常規(guī)的確定性融合機(jī)制相比，不僅提高了跟蹤魯棒性，還顯著提高了實(shí)時(shí)性。相關(guān)的成果發(fā)表于ICRA2007-2009、ICASSSP 2009、IROS 2007、IROS 2009等國(guó)際會(huì)議中。
研究課題
國(guó)家自然科學(xué)基金項(xiàng)目: Markov跳變系統(tǒng)的H無(wú)窮控制與濾波 (2006-2008);
863課題: 遙操作關(guān)鍵技術(shù) (2007-2010).
學(xué)術(shù)成果
[1] H. Liu, D. Ho, and F. Sun. Design of Hinf filter for Markov jumping linear systems with non-accessible mode information, Automatica, vol. 44, no. 10, pp. 2655-2660, 2008
[2] H. Liu, D. Ho, and F. Sun. A constructive approach to approximate linear periodic systems, IEEE Transactions on Automatic Control, vol. 52, no. 3, pp. 541-546, 2007
[3] H. Liu, E. Boukas, F. Sun, and D. Ho. Controller design for Markovian jumping systems subject to actuator saturation, Automatica, vol. 42, no. 3, pp. 459-465, 2006
[4] H. Liu, F. Sun, and Y. Hu. Hinf control for fuzzy singularly perturbed systems, Fuzzy Sets and Systems, vol. 155, no. 2, pp. 272-291, 2005
[5] H. Liu, F. Sun, and Z. Sun. Stability analysis and synthesis of fuzzy singularly perturbed systems, IEEE Transactions on Fuzzy Systems, vol. 13, no. 2, pp. 273-284, 2005
[6] H. Liu, and F. Sun. Semi-supervised particle filter for visual tracking. Proc. of IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, 2009, pp. 3928-3933.
[7] H. Liu, and F. Sun. Semi-supervised ensemble tracking. Proc. of International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2009), Taibei, China, 2009, pp. 1645-1648.
[8] H. Liu, and F. Sun. Fusion tracking in color and infrared images using sequential belief propagation, Proc. of IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, California, U.S.A., 2008, pp. 2259-2264.
[9] H. Liu, F. Sun, L. Yu, and K. He. Vehicle tracking using stochastic fusion-based particle filter, Proc. of International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, CA, U.S.A. 2007, pp. 2735-2740.
