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1）在研科研項目

[1] 國家重點研發計劃課題，網絡化二便能力增強與護理機器人系統集成及應用驗證，2022.11-2025.10，在研；

[2] 國家重點研發計劃課題，多體位變換照護康復一體化支撐平臺創成，2023.12-2026.11，在研

[3] 國家重點研發計劃課題，基于動態補償與彈性配準的手眼協同實時導航技術研究，2023.12-2026.11，在研；

[4] 國家自然科學基金面上項目，第三代半導體材料SiC單晶聚焦超聲激勵金剛石線鋸高效切割機理研究，2023.1-2026.12，在研；

[5] 國家自然科學基金青年項目，復雜機電產品中柔性線纜的彈塑性物理建模與裝配仿真方法，2024.1-2026.12，在研；

[6] 國家自然科學基金青年項目，飛魚高效水空跨介質運動機理及仿生機器人研究，2023.1-2025.12，在研；

[7] 國家重點研發計劃子課題，高齡脊柱退變性疾病支具治療關鍵技術及臨床驗證，2024.1-2026.12，在研；

[8] 國家重點研發計劃子課題，照護康復一體化機器人智能協同控制方法研究，2023.12-2026.11，在研；

[9] 國家重點研發計劃子課題，復雜創面縫合運動學參數優化系統，2023.11-2026.10，在研；

[10] 國家重點研發計劃子課題，高齡脊柱退變分型與生物力學機制理論體系，2024.1-2026.12，在研；

[11] 總裝預研分承研項目，復雜XX線纜敷設XX規劃與XX技術研究，2022.10-2025.10，在研；

[12] 工業和信息化部高質量專項，“XX服務器”，2024.01-2026.01，在研；

[13] 北京市自然科學基金項目，兒童頭頸部腫瘤手術機器人關鍵技術研究，2024.1-2027.12，在研。

2） 代表學術論文

[1] Ganmin Zhu; Shimin Wei; Ying Zhang; Qizheng Liao ; CGA-based novel modeling method for solving the forward displacement analysis of 3-RPR planar parallel mechanism, Mechanism and Machine Theory, 2022, 168: 1-

[2] Xuegang Li; Shimin Wei; Qizheng Liao; Ying Zhang ; A novel analytical method for four-bar path generation synthesis based on Fourier series, Mechanism and Machine Theory, 2020, 144: 1-24.

[3] Xuegang Li; Shimin Wei; Qizheng Liao; Ying Zhang ; A novel analytical method for function generation synthesis of planar four-bar linkages, Mechanism and Machine Theory, 2016, 101: 222-235.

[4] Haiyan Sheng; Wei Shimin; Xiuli Yu; Ling Tang ; Research on Binocular Visual System of Robotic Arm Based on Improved SURF Algorithm [J]. IEEE Sensors Journal, 2020, 20(20): 11849- 11855.

[5] Mingshuai Dong; Wei Shimin; Xiuli Yu; Jianqin Yin ; MASK-GD segmentation based robotic grasp detection [J]. Computer Communications, 2021, 178: 124-130.

[6] Jian Li, Diansheng Chen, Yingying Zhang, Yan Yao, Zhongjun Mo, Lizheng Wang, Yubo Fan. Diagonal-symmetrical and Midline-symmetrical Unit Cells with Same Porosity for Bone Implant: Mechanical Properties Evaluation. Journal of Bionic Engineering, 2019,16(3): 468–479.

[7] Zhuxun Tang, Yueting Zhou1, Lifang Ma, Jian Li, Flow performance of porous implants with different geometry: Line, surface, and volume structures. International Journal of Bioprinting,2023,9(3):1-14.

[8] Rui Cui, Jian Li, Yongkang Jiang, Hao Sun, Yinglun Tan, Lunhui Duan, Mengkun Wu, Trajectory Optimization with Musculoskeletal Integration Features for Fracture Reduction Orthopedic Robot, International Journal of Medical Robotics and Computer Assisted Surgery,2022,18(2):1-13.

[9] Peng Su, Jiang Li, Chao Yue, Tian Liu, Baoguo Liu, Jian Li, Preoperative positioning planning for a robot-assisted minimally invasive surgical system based on accuracy and safety, International Journal of Medical Robotics and Computer Assisted Surgery,2022, 18(4):1-9.

[10] Jiang Yongkang, Tong Xin, Li Jian*,Hui Li, Chongjing Cao, Xing Gao, Yingtian Li*. Reprogrammable bistable actuators for multimodal, fast, and ultra-sensitive grasping. IEEE/ASME Transactions on Mechatronics, 2023.

[11] 崔睿, 陳殿生, 蘇鵬, 李劍, 孫昊. 骨折復位及畸形矯正機器人的軌跡規劃研究進展[J]. 機械工程學報, 2022, 58(13): 1-21.

[12] Lutao Yan, Xinrong Zhang, Haiyuan Li, Qinjian Zhang*. Machinability improvement in three-dimensional (3D) ultrasonic vibration assisted diamond wire sawing of SiC [J]. Ceramics International, 2022, 48(6): 8051-8068.

[13] Lutao Yan, Qi Wang, Haiyuan Li, Qinjian Zhang. Surface generation mechanism of ceramic matrix composite in ultrasonic assisted wire sawing [J]. Ceramics International, 2021, 47(2):1740-1749.

[14] Lutao Yan, Wang Chen, Haiyuan Li, Qinjian Zhang*. Mechanism of ultrasonic vibration effects on adhesively bonded ceramic matrix composites joints [J]. Ceramics International, 2021,47(23):33214-33222.

[15] Lutao Yan, Qi Wang, Haiyuan Li, Qinjian Zhang*. Experimental investigation on cutting mechanisms in fixed diamond wire sawing of bone [J]. Precision Engineering, 2021,68:319-325.

[16] Lutao Yan, Qinjian Zhang, Jinhai Wang, Jingzhou Yu. Effect of ultrasonic vibration on tribological behavior of carbon-carbon composite [J]. Tribology International, 2019, 136: 469-474.

[17] Lutao Yan, Qinjian Zhang, Jingzhou Yu. Analytical models for oil penetration and experimental study on vibration assisted machining with minimum quantity lubrication [J]. International Journal of Mechanical Sciences, 2018, 148: 374-382.

[18] Lutao Yan, Xiuhong Chen, Haiyuan Li, Qinjian Zhang.Investigation on focused ultrasound-assisted diamond wire sawing of silicon carbide [J]. International Journal of Advanced Manufacturing Technology, 2023, 128:.3251–3259

[19] Lutao Yan, Qinjian Zhang, Jingzhou Yu. Effects of continuous minimum quantity lubrication with ultrasonic vibration in turning of titanium alloy [J]. International Journal of Advanced Manufacturing Technology, 2018, 98:827-837.

[20] Wu Zhang, Haiyuan Li, Linlin Cui, Haiyang Li, Xiangyan Zhang, Shanxiang Fang, Qinjian Zhang. Research progress and development trend of surgical robot and surgical instrument arm [J]. International Journal of Medical Robotics and Computer Assisted Surgery, 2021, 7(5):e2309. 

[21] Dai Xiaofeng, Li Haiyuan. Ning Meng. Plasma robot engineering: the next generation of precision disease management [J]. Annals of biomedical engineering, 2021, 49: 1593–1597. 

[22] 李海源, 劉暢, 嚴魯濤, 張斌, 李端玲, 張勤儉. 上肢外骨骼機器人的阻抗控制與關節試驗研究. 機械工程學報. 2020, 56(19): 200-209.

[23] Li Haiyuan, Wang Tianmiao, Gregory Chirikjian. Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX=YB Problem without Correspondence [J]. IEEE Robotics and Automation Letters, 2016, 1(1): 145-152.

[24] Li Haiyuan, Wang Tianmiao, Wei Hongxing, and Meng Cai. Response Strategy to Environmental Cues for Modular Robots with Self-Assembly from Swarm to Articulated Robots [J]. Journal of Intelligent & Robotic Systems, Springer Netherlands, 2016, 81(3-4): 359-376.

[25] Li Haiyuan, Wei Hongxing, Xiao Jiangyang, and Wang Tianmiao. Co-evolution framework of swarm self-assembly robots [J]. Neurocomputing, 2015, 148: 112-121.

[26] 張英, 馮征征, 李劍, 魏世民, 廖啟征. 基于CGA 的7自由度冗余機械臂逆運動學臂型角參數化方法[J], 機械工程學報, 2023, 59(23): 68-75

[27] 張英, 黃起能, 廖啟征, 魏世民. 空間剛體變換的倍矩陣描述方法, 機械工程學報, 2022, 58(13): 89-100

[28] 張英, 黃起能, 廖啟征, 等. 空間6R串聯機械手逆運動學分析的新方法研究. 機械工程學報, 2022, 58(19): 1-11.

[29] Zhang Ying; Kong Xianwen; Wei Shimin; Li Duanling; Liao Qizheng ; CGA-Based approach to direct kinematics of parallel mechanisms with the 3-RS structure [J], Mechanism and Machine Theory, 2018, 124: 162-178

[30] Yu. XL, Yang. FH, Yun. J, Wu. S. CIRNN: An Ultra-Wideband Non-Line-of-Sight Signal Classifier Based on Deep-Learning [J]. Tehnicki Vjesnik-Technical Gazette, 2022, 29(4):1139-1146.

[31] Yu. XL, Dong. MS, Yin. WM. Time-optimal trajectory planning of manipulator with simultaneously searching the optimal path[J]. Computer Communications, 2022, 181:446-453.

[32] Dong. MS , Bai. YX , Wei. SM, Yu.XL. Real-world semantic grasp detection using ontology features: learning to concentrate on object features[J]. Neural Processing Letters, 2023, 55 (6):8419-8439.

[33] Bai.YX, Dong. MS, Wei.SM , Li. J, Yu.XL. YOLOOD: an arbitrary-oriented  flexible flat cable detection method in robotic assembly[J]. Journal Of Supercomputing, 2023,79 (13):14869-14893.

[34] Xiong Xiong, Wang Ying, Song Tianyuan, Huang Jinguo*, Kang Guixia. Improved motor imagery classification using adaptive spatial filters based on particle swarm optimization algorithm[J]. Frontiers in Neuroscience, 2023, 17: 1303648.

[35] Cao Gongpeng, Zhang Manli, Wang Yiping, Zhang Jing, Han Ying, Xu Xin, Huang Jinguo*, Kang Guixia*. End-to-end automatic pathology localization for Alzheimer’s disease diagnosis using structural MRI[J]. Computers in Biology and Medicine, 2023: 107110.

[36] Huang Jinguo, Wang Tianmiao, Liang Jianhong, Yang Xingbang, Wang Haodong, Kang Guixia. Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis[J]. Advanced Intelligent Systems, 2022: 2200380.

[37] Huang Jinguo, Liang Jianhong, Yang Xingbang, Chen Hongyu, Wang Tianmiao. Cormorant webbed feet support water-surface takeoff: Quantitative analysis via CFD[J], Journal of Bionic Engineering, 2021.

[38] Huang Jinguo, Sun Yilun, Wang Tianmiao, Tim C. Lueth, Liang Jianhong, Yang Xingbang. Fluid-Structure Interaction Hydrodynamics Analysis on a Deformed Bionic Flipper With Non-Uniformly Distributed Stiffness[J]. IEEE Robotics and Automation Letters, 2020, 5(3): 4657-4662./Presented at the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

[39] Naijing Lv, Jianhua Liu*, Xiaoyu Ding, Jiashun Liu, Haili Lin, and Jiangtao Ma. Physically based real-time interactive assembly simulation of cable harness[J]. Journal of Manufacturing Systems, 2017, 43:385-399.

[40] Naijing Lv, Jianhua Liu, Xiaoyu Ding*, and Haili Lin. Assembly simulation of multi-branch cables[J]. Journal of Manufacturing Systems, 2017, 45:201-211.

[41] Naijing Lv, Jianhua Liu, and Yunyi Jia*. Dynamic modeling and control of deformable linear objects for single-arm and dual-arm robot manipulations[J]. IEEE Transactions on Robotics, 2022, 38(4):2341-2353.

[42] Naijing Lv, Jianhua Liu*, Huanxiong Xia, Jiangtao Ma, and Xiaodong Yang. A review of techniques for modeling flexible cables[J]. Computer-Aided Design, 2020, 122:102826.

[43] 呂乃靜, 劉檢華*. 柔性線纜的機器人自動敷設關鍵技術與發展趨勢[J]. 機械工程學報, 2022, 58(17): 75-95.

2）典型科研產品

圖1 AODF自動光纖配線機器人

圖10 自重構機器人及非合作目標操控

圖11 基于混合現實的主從操作腔鏡手術機器人

圖12 基于機器視覺定位的全規格計量用互感器自動化接線系統

圖13 觸覺感知末端執行器

圖14 互感器文本檢測與識別軟件（手機端和電腦端）

 

圖15 基于國產芯片的智能網關

 

圖16 NZY測試軟件

 

圖17 多軸力傳感器配套軟件

 

圖18 柔性線纜的布局設計與裝配仿真軟件

 

圖19 基于DELMIA的分支線纜裝配仿真軟件

北京郵電大學自動化學院機電工程中心建有“空間機器人技術教育部工程研究中心”，“機械工程一級學科博士學位授權點”，“北京市機械工程重點學科”，“智能養老康復”交叉學科等。團隊擁有六自由度協作臂、高精度3D打印機、NDI運動捕捉系統、面向虛擬制造和遙操作的頭盔、五指靈巧手等軟硬件設備，具備良好的科研實驗條件。

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E-mail: jianli@bupt.edu.cn