教师名录
朱晓蕊
通讯地址:
电子邮件:xiaoruizhu@hit.edu.cn
联系电话:

研究方向

移动机器人定位与导航,无人机飞行控制系统,无人驾驶感知技术

教育经历

2002~2006  美国University of Utah,博士
1998~2000  哈尔滨工业大学机器人研究所,硕士
1994~1998  哈尔滨工业大学机电一体化系,本科

研究与工作经历

2018.02-2019.02  Stanford University, Visiting Professor
2015.09-2015.12  Yale University, Visiting Professor
2014.12-至今  哈尔滨工业大学深圳研究生院,教授,博士生导师
2011.05-至今  哈尔滨工业大学深圳研究生院,博士生导师
2007.07-至今  哈尔滨工业大学深圳研究生院,副教授

专业资质与学术兼职

  

科研项目

2019.03-2022.03  科技部国家重点研发计划(项目负责人),“面向机器人应用的激光扫描测距仪关键技术研发与推广应用”
2019.01-2022.12   国家自然科学基金深圳联合基金(重点项目)(项目负责人),“移动机器人在具有高动态复杂度的大型公共室内环境中的定位与导航关键技术”
2017.01-2019.12  国家自然科学基金重大研究计划培育项目(项目负责人),“在未知人机共融环境下基于行人行为学习的户外移动机器人自主感知、语义制图和运动规划”
2013.01-2016.01  国家科技支撑计划子项目(项目负责人),“长城保存状态智能感知关键技术研究”
2011.10-2013.10  机器人技术与系统国家重点实验室开放基金(重点)(项目负责人),“面向智能电网输电线路检测的小型无人直升机自主抗风控制的研究”
2012.01-2014.01  深圳市基础研究计划(重点项目)(项目负责人),“智能电网输电线路无人直升机检测的关键问题研究”
2010.01-2012.12  国家自然科学基金项目(项目负责人),“户外轮式移动机器人对地形地貌特征的自主感知、地图创建和沿途定位”,
2009.01-2010.12  深圳市公共科技项目(项目负责人),“小型无人直升机系统关键技术的研究和整机开发”
2010.01-2012.12  深圳市南山区科技项目(项目负责人),“动力式药丸型内窥镜的研发”

科研成果及奖励

2012   “文物出土现场保护移动实验室研发与应用”,国家科技进步二等奖

发明专利

考发掘现场智能预探测系统,2011.12,国家发明专利,ZL200810218228.2

内窥镜微型胶囊机器人,2015.02.18,国家发明专利,ZL201310357801.9

论文及著作

发表论文(部分):

英文著作

Xiaorui Zhu, Youngshik Kim, Mark Minor, Chunxin Qiu, "Autonomous Mobile Robots in Unknown Outdoor Enironments", CRC Press, 2017

期刊论文

1.Xiaorui Zhu*, Chen Liang, Zhenguo Yin, et al. "A new hierarchical software architecture towards safety-critical aspects of a drone system. " Frontiers of Information Technology & Electronic Engineering, 2019, 20(3): 353-362. (SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/safety_drone.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/safety_drone.md

2.Xiaorui Zhu*, Chunxin Qiu, Fucheng Deng, et al. "Cloud‐based Real‐time Outsourcing Localization for a Ground Mobile Robot in Large‐scale Outdoor Environments." Journal of Field Robotics, 2017, 34(7): 1313-1331.(SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/outsourcing_localization.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/outsourcing_localization.md

3.Fucheng Deng, Xiaorui Zhu*, and Chao He. "Vision-based real-time traversable region detection for mobile robot in the outdoors." Sensors 17.9 (2017): 2101.(SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/traversable_region_detection.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/traversable_region_detection.md

4.Fucheng Deng, Xiaorui Zhu*, Xiaochun Li, et al. "3D Digitisation of Large-Scale Unstructured Great Wall Heritage Sites by a Small Unmanned Helicopter. " Remote Sensing, 2017, 9(5): 423.(SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/3D_digitisation.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/3D_digitisation.md

5.Xiaorui Zhu*, Fucheng Deng, Yongsheng Ou, et al. "Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot", Mathematical Problems in Engineering, 2015, 1-10. (SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Unscented_FastSLAM.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Unscented_FastSLAM.md

6.Xiaorui Zhu*, Chunxin Qiu, Mark Minor, "Terrain-inclination-based Three-dimensional Localization for Mobile Robots in Outdoor Environments", Journal of Field Robotics, 2014, 31(3): 477-492. (SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Three-dimensional_Localization.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Three-dimensional_Localization.md

7.Xiaorui Zhu*, Chunxin Qiu, Mark Minor, “Terrain Inclination Aided Three-dimensional Localization and Mapping for an Outdoor Mobile Robot”, International Journal of Advanced Robotic Systems, January 2013.(SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Localization_and_Mapping.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Localization_and_Mapping.md

8.Xiaorui Zhu*, Wenwu Zeng, Zexiang Li, Chunyang Zheng, “A New Hybrid Control Architecture to Attenuate Large Horizontal Wind Disturbance for a Small-Scale Unmanned Helicopter”, International Journal of Advanced Robotic Systems, July 2012.(SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Hybrid_Control.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Hybrid_Control.md

9.Xiaorui Zhu*, Youngshik Kim, Roy Merrell, and Mark A. Minor,“Cooperative Motion Control and Sensing Architecture in Compliant Framed Modular Mobile Robots”, IEEE Transactions on Robotics, October, 2007, pp. 1095-1101. (SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Cooperative_Motion_Control.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Cooperative_Motion_Control.md

10.Xiaorui Zhu*, Mark A. Minor and Sungyong Park, “Distributed robust control of Compliant Framed Wheeled Modular Mobile Robots”, Journal of Dynamic systems, Measurement, and Control, 2006, vol. 128, pp. 489-498. (SCI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Distributed_robust_control.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Distributed_robust_control.md

会议论文集

11.Jianyin Fan, Xiaorui Zhu*, and Hao Yang. "Three-Dimensional Real-Time Object Perception Based on a 16-Beam LiDAR for an Autonomous Driving Car." 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR2018), 2018.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Object_Perception.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Object_Perception.md

12.Xiaorui Zhu*, Lu Yin, and Fucheng Deng. "Wind Disturbance Rejection in Position Control of Unmanned Helicopter by Nonlinear Damping." International Conference on Computer Vision Systems. Springer, Cham, 2017. (EI)(Best paper finalist)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Nonlinear_Damping.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Nonlinear_Damping.md

13.Sixiang Zuo, Zhiyang Wang, Xiaorui Zhu*, et al. "Continuous reinforcement learning from human demonstrations with integrated experience replay for autonomous driving. " 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO2017). IEEE, 2017: 2450-2455.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Continuous_reinforcement_learning.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Continuous_reinforcement_learning.md

14.Fucheng Deng, Xiaorui Zhu*, and Jiamin Ren. "Object detection on panoramic images based on deep learning." 2017 3rd International Conference on Control, Automation and Robotics (ICCAR2017). IEEE, 2017.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Object_detection.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Object_detection.md

15.Chen Xiao, Xiaorui Zhu*, Wei Feng, et al. "A novel approach to improve the precision of monocular visual odometry." 2015 IEEE International Conference on Information and Automation (ICIA2015), 2015: 392-397.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Monocular_visual%20.pdf

引用:https://github.com/hitszimrslab/database/blob/master/citations/Monocular_visual%20.md

16.Xiaorui Zhu*, Jingdan Min, Wei Lin, "Robot Control via Output Regulation in Cardiac Surgery", IEEE International Conference on Robotics and Biomimetics (ROBIO2014), Dec.5-10, 2014, pp648-653. (EI)(Best paper finalist)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Output_Regulation.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Output_Regulation.md

17.Letian Liu, Xiaorui Zhu*, and Yi Tang. "Indoor surveillance robot controlled by a smart phone." 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), 2013.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Indoor_surveillance_robot.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Indoor_surveillance_robot.md

18.Wenwu Zeng, Xiaorui Zhu*, Yanjie Li, Zexiang Li, “Less Computational Unscented Kalman Filter for Practical State Estimation of Small Scale Unmanned Helicopters”, Proceedings of IEEE International Conference on Robotics and Automation (ICRA2011), Shanghai, May 2011. (EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Unscented_Kalman_Filter.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Unscented_Kalman_Filter.md

19.Xiaorui Zhu*, Chunxin Qiu, Leiming Guo, et al. "New method for slip and tire force estimation of wheeled mobile robot on inclined terrain." 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), 2011.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Slip_and_tire_force.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Slip_and_tire_force.md

20.Bo Zhao, and Xiaorui Zhu*. "Fast large-scale SLAM with improved accuracy in mobile robot." 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO2010), 2010.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Fast_large-scale_SLAM.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Fast_large-scale_SLAM.md

21.Jueyao Wang, Xiaorui Zhu*, etc, “Design of a Modular Robotic System for Archaeological Exploration”, Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA2009), May 2009, pp. 1435-1440. (EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Modular_Robotic_System.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Modular_Robotic_System.md

22.Jun Shi, Xiaorui Zhu* and Zexiang Li, “New Method for Kinematic Analysis of a Hybrid Manipulator”, Proceedings of 2009 IEEE International Conference on Information and Automation, June 2009, pp. 207-211. (EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Hybrid_Manipulator.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Hybrid_Manipulator.md

23.Jia Chen, Xiaorui Zhu*, and Chunxin Qiu, “Locomotion and Steering Design of an Active Capsule Robot for Endoscopic Inspection”, Proceedings of 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO2009), December 2009, pp. 2344-2348. (EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Active_Capsule_Robot.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Active_Capsule_Robot.md

24.Xiaorui Zhu*, Roy Merrell and Mark A. Minor, “Motion control and sensing strategy for a Two-axle Compliant Framed Wheeled Modular Mobile Robot”, IEEE International Conference on Robotics and Automation (ICRA2006), Orlando, Florida, May, pp. 3526-3531, 2006.(EI)
全文:https://github.com/hitszimrslab/database/blob/master/papers/Motion_control_and_sensing_strategy.pdf
引用:https://github.com/hitszimrslab/database/blob/master/citations/Motion_control_and_sensing_strategy.md

会议论文及发表演说

受邀报告:

“Cloud-based real-time localization of Outdoor mobile robot”, Keynote speech, IEEE RCAR, Cambodia, Angkor Wat, June 6-10, 2016.

“中国智能制造之路”,中美企业科技创新峰会,2016年8月

“全球机器人领域的技术创新与创业”,大学城新纶-名家讲座,2016年5月21日

“机器人与技术创新”,深圳国际创客领袖峰会,2015年6月

“基于ROS的教学/科研一体化”,ROS应用及前景学术研讨会,上海, 2013年11月23日

“Navigation of Mobile Robot”, General Electric Company, Global Research Center (Shanghai), June, 2010.




任教和任导师经历

机器人学,英语授课,春季学期,全日制学生  教材:(1)Richard Murray, A Mathematical Introduction to Robotic Manipulation, 2005
(2)Sciavicco and Siciliano, Modelling and Control of Robot Manipulators, 2004
目前在读学生:  2018级博士生1名
2016级博士生1名
2018级全日制硕士6名
2017级全日制硕士6名
最后更新:2019-06-04 14:31:33