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王贺升

教授,博士生导师

通讯地址: 电信群楼2-509
电子邮件: wanghesheng@sjtu.edu.cn
个人主页: http://robotics.sjtu.edu.cn

  • 个人简介

    王贺升博士,现任职上海交通大学自动化系教授,博士生导师。国家自然科学基金优秀青年基金获得者。2002年毕业于哈尔滨工业大学, 2004及2007年于香港中文大学分别获得硕士及博士学位,2007至2009年于香港中文大学担任博士后研究助理。

    2007年获得国际集成技术大会最佳学生会议论文,2010年获得第八届世界智能控制及自动化大会SUPCON最佳论文,2015年国际实时计算和机器人大会最佳学生会议论文,2015年,国际可穿戴传感器与机器人大会最佳会议论文。2010年获得上海交通大学SMC-晨星青年学者C类,2012年获得上海交通大学SMC-晨星青年学者B类。2014年获得上海市青年科技启明星A类。

    近年来,在国内外刊物和会议发表SCI/EI索引论文共150+篇,其中SCI索引49篇,IEEE TRANSACTIONS论文20余篇,SCI引用200+次,google scholar引用1400+次。在国际机器人顶级会议ICRA及IROS共发表论文20余篇。已获国家发明专利授权27项,转让1项,另已公开7项。

    作为项目负责人,主持包括国家自然科学基金优秀青年基金、联合基金重点项目、青年基金、面上项目、科技部ITER计划专项子课题,科技部国际合作项目子课题,教育部博士点基金及上海市自然科学基金等多个项目。作为项目主要成员参与了包括国家自然科学基金重点项目,科技部ITER计划专项课题,863重点项目,香港研究基金,校内医工研究合作基金,企业课题等多个项目。

    曾担任2014国际机器人及仿生学大会(IEEE ROBIO2014)的大会程序主席(Program Chair), 2016年国际实时计算与机器人大会(IEEE RCAR2016)的大会总主席(General Chair), 将担任2019年国际先进智能机电系统(IEEE AIM2019)的大会程序主席。担任包括IEEE ROBIO2009、IEEE ICRA2011、IEEE NANO2013、IEEE ROBIO2015、IEEE SII2016等多个国际会议组委会主席。目前担任国际期刊IEEE Transactions on Robotics(SCI),Assembly Automation(SCI),International Journal of Humanoid Robotics(SCI)和Robotics and Biomimetics的副编辑(Associate Editor),IEEE机器人及自动化学会会议编委会副编辑。曾担任Mathematical Problems in Engineering(SCI),International Journal of Advanced Robotic Systems(SCI期刊)和Journal of Applied Mathematics的客座编委。现为IEEE高级会员。

  • 研究方向

    视觉伺服,医疗机器人,无人驾驶,机器人控制,计算机视觉,自适应控制。

  • 科研项目

    1、国家自然科学基金优秀青年基金:机器人视觉伺服

    2、国家自然科学基金联合基金:NSFC-深圳机器人基础研究中心项目:复杂环境下基于视觉的移动机器人导航控制和虚拟现实关键技术研究

    3、国家自然科学基金面上项目:线驱软件机器人视觉伺服的研究

    4、国家自然科学基金青年基金:非结构环境下机器人鲁棒视觉伺服的研究

    5、科技部国际热核聚变实验堆(ITER)计划专项(国内研究)子课题:核环境遥操机器人关键技术及原理实验

    6、唯品会研究院:快递物流配送机器人

    7、上海市青年科技启明星A类:基于视觉反馈的柔性物体变形操作研究

    8、教育部博士点基金:未标定环境下移动机器人的视觉伺服研究

    9、上海市自然科学基金:未标定环境下移动机器人的视觉伺服

  • 代表性论文专著

    Y. H. Liu, H. Wang, C. Wang and K. Lam, “Uncalibrated visual servoing of robots using a depth-Independent interaction matrix,” IEEE Trans. on Robotics, Vol. 22, No. 4, pp.804-817, 2006.

    H. Wang*, Y. H. Liu and D. Zhou, “Dynamic visual tracking for manipulators using an uncalibrated fixed camera,” IEEE Trans. on Robotics, Vol. 23, No. 3, pp. 610-617, 2007.

    H. Wang*, Y. H. Liu and D. Zhou, “Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera,” IEEE Trans. on Robotics, Vol. 24, No. 4, pp. 843-857, 2008.

    H. Wang*, Y. H. Liu and W. Chen “Uncalibrated visual tracking control without visual velocity,” IEEE Trans. on Control Systems Technology, Vol.18, No.6, pp.1359-1370, 2010.

    H. Wang*, Y. H. Liu, W. Chen and Z. Wang, “A new approach to dynamic eye-in-hand visual tracking using nonlinear observers,” IEEE/ASME Trans. on Mechatronics, Vol.16, No.2, pp.387-394, 2011.

    H. Wang*, W. Chen and Y. H. Liu, “Visual servoing of robots with uncalibrated robot and camera parameters,” Mechatronics, Vol.22, No.4, pp. 390-397, 2012.

    H. Wang*, Y. H. Liu and W. Chen “Visual tracking of robots in uncalibrated environments,” Mechatronics, Vol.22, No.6, pp. 661-668, 2012.

    Y. H. Liu, H. Wang*, W. Chen and D. Zhou, "Adaptive visual servoing using common image features with unknown geometric parameters", Automatica, Vol. 49, No.8, pp.2453-2460, 2013.

    X. Liang, H. Wang* and W. Chen, "Uncalibrated image-based visual servoing of rigid-link electrically driven robotic manipulators", Asian Journal of Control, Vol. 16, No.3, pp.714-728, 2014.

    X. Liang, H. Wang*, W. Chen and D. Guo, "Adaptive image-based trajectory tracking control of wheeled mobile robots with an uncalibrated fixed camera ", IEEE Trans. on Control Systems Technology, Vol. 23, No. 6, pp.2266-2282, 2015.

    X. Liang, H. Wang*, Y. H. Liu, W. Chen and J. Zhao, "A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration",Automatica, Vol. 59, pp.97-105, 2015.

    H. Wang, W. Chen*, Y. Lai, and T. He, “Trajectory planning of Tokamak flexible in-vessel inspection robot”, Fusion Engineering and Design, Vol. 98–99, pp. 1678-1682, 2015.

    H. Wang, W. Chen*, L. Xu, and T. He, “Vision-based online vibration estimation of the flexible in-vessel inspection robot with Short-time Fourier Transformation”, Fusion Engineering and Design, Vol. 98–99, pp. 1683-1687, 2015.

    H. Wang, Y. Lai, W. Chen* and Q. Cao, “Design and implementation of motion planning of inspection and maintenance robot for iter-like vessel”, Fusion Engineering and Design, Vol.101, pp. 111-123, 2015.

    X. Liang, H. Wang*, Y. H. Liu, W. Chen and G. Hu, “Adaptive task-space cooperative tracking control of networked robotic manipulators without task-space velocity measurements”, IEEE Trans. On Cybernetics, Vol. 46, No. 10, pp.2386-2398, 2016.

    Z. Liu, H. Wang, W. Chen, J. Yu and J. Chen*, “An Incidental Delivery Based Method for Resolving Multirobot Pair-Wised Transportation Problems”, IEEE Trans. on Intelligent Transportation Systems, Vol.17, No. 7, pp.1852-1866, 2016.

    Z. Liu, W. Chen*, J. Lu, H. Wang and J. Wang, “Formation control of mobile robots using distributed controller with sampled-data and communication delays”, IEEE Trans. on Control Systems Technology, Vol. 24, No. 6, pp. 2125-2132, 2016.

    H. Wang, L. Xu and W. Chen*, “Design and implementation of visual inspection system handed in Tokamak flexible in-vessel robot”, Fusion Engineering and Design, Vol. 106, pp. 21-28, 2016.

    X. Liang, Y. H. Liu, H. Wang*, W. Chen, K. Xing and T. Liu, “Leader-following formation tracking control of mobile robots without direct position measurements”, IEEE Trans. on Automatic Control, Vol. 61, No. 12, pp. 4131-4137, 2016.

    H. Wang, Y. Lai, W. Chen*, “The time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator”, Fusion Engineering and Design, Vol. 113, pp. 57-65, 2016.

    H. Wang, C. Wang, W. Chen*, X. Liang and Y. Liu, “Three dimensional dynamics for cable-driven soft manipulator”, IEEE/ASME Trans. on Mechatronics, Vol. 22, No. 1, pp. 18-28, 2017.

    H. Wang, R. Zhang, W. Chen*, X. Liang and R. Pfeifer, “Shape detection algorithm for soft manipulator based on fiber bragg gratings”, IEEE/ASME Trans. on Mechatronics, Vol. 21, No. 6, pp. 2977-2982, 2016.

    H. Wang, B. Yang, Y. Liu, W. Chen*, X. Liang and R. Pfeifer, “Visual servoing of soft robot manipulator in constrained environments with an adaptive controller”, IEEE/ASME Trans. on Mechatronics, Vol. 22, No. 1, pp. 41-50, 2017.

    H. Wang, D. Guo, X. Liang, W. Chen*, G. Hu and K. K. Leang, “Adaptive vision-based leader-follower formation control of mobile robots”, IEEE Trans. on Industrial Electronics, Vol. 64, No. 4, pp.2893-2902, 2017.

    H. Wang, R. Zhang, W. Chen*, X. Wang and R. Pfeifer, “A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical testes in animals”, Surgical Endoscopy and other Interventional Techniques, Vol.31, No. 8, pp 3152–3158, 2017.

    D. Zheng, H. Wang*, S. Chen, J. Wang, W. Chen, X. Liang, “Image-based visual servoing of a quadrotor using virtual camera approach”, IEEE/ASME Trans. on Mechatronics, Vol. 22, No. 2, pp.972-982, 2017.

    H. Wang, D. Guo, H. Xu, W. Chen*, T. Liu and K. Leang, “Eye-in-hand tracking control of free-floating space manipulator”, IEEE Trans. on Aerospace and Electronic Systems, Vol. 53, No. 4, pp.1855-1865, 2017.

    D. Guo, K. Leang and H. Wang, “Adaptive-Repetitive Visual-servo control of low-flying aerial robots via uncalibrated high-flying cameras”, Journal of Nonlinear Science, Vol. 27, No. 4, pp.1235-1256, 2017.

    H. Wang, J. Wang, W. Chen* and L. Xu, “Automatic illumination planning for robot vision inspection system”, Neurocomputing, Vol. 275, pp.19-28, 2018.

    Z. Liu, W. Chen, H. Wang, Y.-H. Liu, Y. Shen, X. Fu, "A self-repairing algorithm with optimal repair path for maintaining motion synchronization of mobile robot network", IEEE Trans. on Systems, Man and Cybernetics: Systems, 2018.

    D. Zheng, H. Wang*, W. Chen and Yong Wang, “Planning and tracking in image space for image-based visual servoing of a quadrotor”, IEEE Trans. on Industrial Electronics, Vol. 65, No. 4, pp.3376-3385, 2018.

    X. Liang, H. Wang*, Y. H. Liu, W. Chen, “Formation control of nonholonomic mobile robots without position and velocity measurements”, IEEE Trans. On Robotics, Vol. 34, No.2, pp.434-446, 2018.

    H. Tang, Y. Liu and H. Wang*, “Constraint gaussian filter with virtual measurement for on-line camera-odometry calibration”, IEEE Trans. On Robotics, Vol. 34, No.3, pp.630-644, 2018.

    H. Wang, B. Yang, J. Wang, W. Chen, X. Liang and Y. Liu, “Adaptive visual servoing of contour features ”, IEEE/ASME Trans. on Mechatronics, Vol. 23, No.2, pp.811-822, 2018.

    X. Liang, H. Wang*, Y. H. Liu, W. Chen, “Image-based position control of mobile robots with a completely unknown fixed camera”, IEEE Trans. on Automatic Control, Vol. 63, No.9, pp.3016-3023, 2018.
    W. Hong, L. Xie, J. Liu, Y. Sun, K. Li and H. Wang*, “Development of a novel continuum robotic system for maxillary sinus surgery”, IEEE/ASME Trans. on Mechatronics, Vol. 23, No.3, pp.1226-1237, 2018.

    H. Wang, D. Zheng, J. Wang*, W. Chen, J. Yuan, “Ego-motion estimation of a quadrotor based on nonlinear observer”, IEEE/ASME Trans. on Mechatronics, Vol. 23, No.3, pp.1138-1147, 2018.

    F. Xu, H. Wang*, J. Wang, W. Chen, J. Yuan, “Adaptive visual servoing control for an underwater soft robot”, Assembly Automation, Vol. 38, No.5, pp.669-677, 2018

    D. Guo, K. Leang and H. Wang, “Nonlinear vision-based observer for visual servo control of an aerial robot in GPS-denied environments”, Journal of Mechanisms and Robotics-Transactions of the ASME, Vol. 10, No.6, 2018.

    F. Xu, H. Wang*, S. Au, W. Chen, Y. Miao, “Underwater dynamic modeling for a cable-driven soft robot arm”, IEEE/ASME Trans. on Mechatronics, Vol. 23, No.6, pp.2726-2738, 2018.

    F. Xu, H. Wang*, J. Wang, S. Au, W. Chen, “Underwater dynamic visual servoing for a soft robot arm with online distortion correction”, IEEE/ASME Trans. on Mechatronics, 2019.

    D. Zheng, H. Wang*, J. Wang, X. Zhang, W. Chen, “Towards visibility guaranteed visual servoing control of quadrotor UAVs”, IEEE/ASME Trans. on Mechatronics, 2019.

友情链接
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医疗机器人研究院