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科学研究 Scientific Research 研究方向：1、机器人设计、分析与控制。包括：机器人结构设计，运动学与动力学建模与分析，机器人感知与姿态估计，智能控制策略。2、机器人及复杂机电系统的网络化实时控制系统软、硬件设计。3、机电液系统与元件的结构应力应变、流场、磁场、温度场等多场耦合分析，用于复杂机电液系统与元件在复杂环境下的正向设计和逆向分析。科研项目及获奖：承担国家级纵向及军工企业合作项目数十项。曾获省部级二等奖、三等奖等奖项。如“直升机助力器协调加载系统”，国防科学技术二等奖等。

教育教学

学术成果 Academic Achievements 一、机器人有关论文：1. Jingchao Li, Zhaohui Yuan, Sheng Dong, Xiaoyue Sang & Jian Kang. “A learning-based model predictivecontrol scheme and its application in biped locomotion”. In: Engineering Applications of Artificial Intelligence.2022. 2. Xiaoyue Sang, Jingchao Li, Zhaohui Yuan, Xiaojun Yu, Jingqin Zhang, Jianrui Zhang & Pengfei Yang.“Invariant Cubature Kalman     Filtering-Based Visual-Inertial Odometry for Robot Pose Estimation”. In: IEEE Sensors Journal. 2022.     3. Jingchao Li, Zhaohui Yuan, Sheng Dong, Jingqin Zhang & Xiaoyue Sang. “External force observer aided push recovery for torque-controlled biped robots”. In: Autonomous Robots. 2022.4. Jingchao Li, Zhaohui Yuan, Sheng Dong, Jingqin Zhang & Jianrui Zhang. “A nonlinear state estimation framework for humanoid robots”. In: Robotics and Autonomous Systems. 2022.5. Jingchao Li, Zhaohui Yuan, Sheng Dong, Jian Kang, Pengfei Yang, Jianrui Zhang & Yingxing Li. “Parameters auto-tuning for biped robots in whole-body stabilization and active impedance control applications”. In: Applied Intelligence. 2022.6. Jingchao Li, Zhaohui Yuan, Sheng Dong, Yingxing Li, Jianrui Zhang, and Fuli Zhang. “Online Robust Gait Generator of Biped Robots Inspired by Human Anti-Disturbance Strategies.” In: Journal of Intelligent & Robotic Systems. 2022.7. Jianrui Zhang, Zhaohui Yuan, Sheng Dong, Muhammad Tariq Sadiq, Fuli Zhang & Jingchao Li. “Structural Design and Kinematics Simulation of Hydraulic Biped Robot”. In: Applied Sciences. 2020.8. Sheng Dong, Zhaohui Yuan, Xiaojun Yu, Jianrui Zhang, Muhammad Tariq Sadiq, and Fuli Zhang. “On-Line Gait Adjustment for Humanoid Robot Robust Walking Based on Divergence Component of Motion.” In: IEEE Access. 2019.9. Sheng Dong, Zhaohui Yuan, Xiaojun Yu, Muhammad Tariq Sadiq, Jianrui Zhang, Fuli Zhang, and Cheng Wang. “Flexible Model Predictive Control Based on Multivariable Online Adjustment Mechanism for Robust Gait Generation.” In:International Journal of Advanced Robotic Systems. 2019.10. Fuli Zhang, and Zhaohui Yuan. “The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load.” In: Sensors. 2021.11. Fuli Zhang, and Zhaohui Yuan. “The Study of Coupling Dynamics Modeling and Characteristic Analysis for Flexible Robots with Nonlinear and Frictional Joints.” In: Arabian Journal for Science and Engineering. 2022.12. Jianrui Zhang, Zhaohui Yuan, Sheng Dong, Fuli Zhang, Muhammad Tariq Sadiq, and Na Liang. “Research on the Gait Planning and the Balance Control of Biped Robot Running and Jumping,” In: WILEY 111 RIVER ST, HOBOKEN 07030-5774, NJ USA, 2019.13. Jianrui Zhang, Zhaohui Yuan, Huan Geng, Sheng Dong, Fuli Zhang, and Jingchao Li. “Application of Neural Network in the Stability of Biped Robot and Embedded Control of Walking Mode.” In: Journal of Electrical and Computer Engineering. 2022. 14. Fuli Zhang, Zhaohui Yuan, and Sheng Dong. “The Study of Dynamics Modeling and Composite Control for Large Load Robot,” In: ICPICS 2020. 15. Jianrui Zhang, Zhaohui Yuan, Weidong Yuan, and Sheng Dong. “Lightweight Design and Modal Analysis of Calf Structure of Hydraulic Biped Robot,” In: CYBER 2020.16. Sheng Dong, Zhaohui Yuan, and Fuli Zhang. “A Simplified Method for Dynamic Equation of Robot in Generalized Coordinate System,” In: IOP Publishing, 2019. 17. 基于递归Gibbs-Appell的柔性空间机器人建模与特性分析, 航空动力学报18. 基于运动发散分量动力学的双足机器人行走策略研究 [J]. 西北工业大学学报 2019 37(06):956 965. 二、多场分析有关论文：1. Liang N, Yuan Z, Zhang F. Oil Particle-Induced Erosion Wear on the Deflector Jet Servo Valve Prestage. Aerospace. 2023 Jan;10(1). doi:10.3390/aerospace10010067.2. Kang J, Yuan Z-h, Li J-c. Mechanism analysis and evaluation of thermal effects on the operating point drift of servo valves [Article]. Journal of Zhejiang University-Science A. 2022 Apr;23(4):286-302. doi:10.1631/jzus.A2100464.3. Kang J, Yuan Z, Wang J. Numerical study on hydrodynamic oscillation and forced vibration in front stage of pressure servo valve. Journal of Vibration and Shock. 2021 2021;40(13):120-128.4. Chu Y, Yuan Z, He X, Dong Z. Model Construction and Performance Degradation Characteristics of a Deflector Jet Pressure Servo Valve under the Condition of Oil Contamination. International Journal of Aerospace Engineering. 2021 Feb 27;2021. doi:10.1155/2021/8840084.5. Zhang F, Yuan Z. Measurement and Evaluation of the Stiffness Characteristics of Precision Spring Tubes in Hydraulic Servovalves. Journal of Dynamic Systems Measurement and Control-Transactions of the Asme. 2021 Sep 1;143(9). doi:10.1115/1.4050573.6. Sang X, Yuan Z, Yu X, Xiao G, Sadiq MT, Yang P, Li Y. Simultaneous stable control of temperature field distribution uniformity and consistency for multi-temperature zone systems. Transactions of the Institute of Measurement and Control. 2021 Jun;43(9):2069-2080. doi:10.1177/0142331221989849.7. Sang X, Yuan Z, Yu X, Sadiq MT, Liang N, Naseer N, Xiao G. Modeling and Analysis of Temperature Compensation for Multi-temperature Zone Sintering Furnace Temperature Sensing. International Journal of Control Automation and Systems. 2021 Jul;19(7):2431-2443. doi:10.1007/s12555-019-0992-6.8. Liang N, Yuan Z, Wang J, Kang J, Chu Y, Publishing IOP. Current Situation and Prospect of Erosion Wear. 4th International Conference on Fluid Mechanics and Industrial Applications (FMIA); 2020 2020Jun 27-28; Electr Network.9. Kang J, Yuan Z, Tariq Sadiq M. Numerical Simulation and Experimental Research on Flow Force and Pressure Stability in a Nozzle-Flapper Servo Valve. Processes. 2020 Nov;8(11). doi:10.3390/pr8111404.10. Chu Y, Yuan Z, Chang W. Research on the Dynamic Erosion Wear Characteristics of a Nozzle Flapper Pressure Servo Valve Used in Aircraft Brake System. Mathematical Problems in Engineering. 2020 Aug 24;2020. doi:10.1155/2020/3136412.11. Zhang F, Yuan Z, Zhang F, Liang N. The analysis and estimation of vibration fatigue for pipe fitting in aviation hydraulic system. Engineering Failure Analysis. 2019 Nov;105:837-855. doi:10.1016/j.engfailanal.2019.07.038.12. Zhang F, Yuan Z. The detection and evaluation for the internal defection in industrial pipeline based on the virtual heat source temperature field. Journal of Thermal Analysis and Calorimetry. 2019 Aug;137(3):949-964. doi:10.1007/s10973-018-07988-7.13. Zhang F, Yuan Z, Dong S, Kang J. The study of the cavity inside heavy forgings based on the temperature field detection model. International Journal of Advanced Manufacturing Technology. 2018 Oct;99(1-4):595-611. doi:10.1007/s00170-018-2442-7.14. Chen J, Yuan Z, Guo Q. Mathematical Model of Spool Valve with Rectangular Grooves[Article]. Journal of Northwestern Polytechnical University. 2018 2018;36(3):516-521.15. Chen J, Yuan Z, Guo Q, Chu Y. Dynamic flow field analysis of the prestage of jet pipe servo valve. Chinese Journal of Scientific Instrument. 2017 2017;38(7):1731-1737.16. Chu Y, Yuan Z, Yin C, Chen J. Modeling and Simulation for Dynamic Reliability of a Jet Pipe Servo Valve. Computer Simulation. 2016 2016;33(7):430-434.17. Chen J, Yuan Z, Wang H, Liu G, Ieee. Electro-hydraulic loading system based on back-stepping adaptive friction compensation. IEEE/CSAA International Conference on Aircraft Utility Systems (AUS); 2016 2016Oct 10-12; Beijing, PEOPLES R CHINA. 2016  367-372 p.;18. Chu Y, Yuan Z, Zhang Y. Erosion wear characteristic of jet pipe servo valve . Acta Aeronautica et Astronautica Sinica. 2015 2015;36(5):1548-1555.19. Chu Y, Yuan Z, Li C. Durability Simulation Analysis of Jet Pipe Servovalve. Journal of Northwestern Polytechnical University. 2015 2015;33(2):326-331.20. Chu Y, Yuan Z, Chen J. Research on Dynamic Reliability of a Jet Pipe Servo Valve Based on Generalized Stochastic Petri Nets. International Journal of Aerospace Engineering. 2015 2015;2015. doi:10.1155/2015/171642.21. Zhang Y, Yuan Z, Wang W. Force-fight Problem in Control of Aileron's Plane. China Mechanical Engineering. 2014 2014;25(14):1893-1900.22. Zhang Y, Yuan Z, Chen J. Analysis and Simulation for Vibration of Aircraft Brake System . Computer Simulation. 2014 2014;31(1):53-57.23. Zhang Y, Yuan Z, Zhao K. Finite Element Analysis of Electro-hydraulic Servo Valve Used in Pilot. Computer Simulation. 2013 2013;30(2):97-101,111.24. Zhang Y, Yuan Z, Zhao K. Harmonic Analysis of Armature-Feedback Lever Assembly in Servo Valve Used in Pilot. Measurement & Control Technology. 2013 2013;32(9):154-158.  三、脑机接口有关论文：1. Khan F, Yu X, Yuan Z, Rehman Au. ECG classification using 1-D convolutional deep residual neural network. Plos One. 2023 Apr 25;18(4). doi:10.1371/journal.pone.0284791.2. Sadiq MT, Yu X, Yuan Z, Aziz MZ, Siuly S, Ding W. A Matrix Determinant Feature Extraction Approach for Decoding Motor and Mental Imagery EEG in Subject-Specific Tasks . Ieee Transactions on Cognitive and Developmental Systems. 2022 Jun;14(2):375-387. doi:10.1109/tcds.2020.3040438.3. Sadiq MT, Yu X, Yuan Z, Aziz MZ, Rehman Nu, Ding W, Xiao G. Motor Imagery BCI Classification Based on Multivariate Variational Mode Decomposition. Ieee Transactions on Emerging Topics in Computational Intelligence. 2022 Oct;6(5):1177-1189. doi:10.1109/tetci.2022.3147030. Cited in: Pubmed; PMID WOS:000757941000001.4. Sadiq MT, Yu X, Yuan Z. Exploiting dimensionality reduction and neural network techniques for the development of expert brain-computer interfaces. Expert Systems with Applications. 2021 Feb;164. doi:10.1016/j.eswa.2020.114031.5. Sadiq MT, Yu X, Yuan Z, Aziz MZ. Identification of Motor and Mental Imagery EEG in Two and Multiclass Subject-Dependent Tasks Using Successive Decomposition Index. Sensors. 2020 Sep;20(18). doi:10.3390/s20185283.6. Sadiq MT, Yu X, Yuan Z, Aziz MZ. Motor imagery BCI classification based on novel two-dimensional modelling in empirical wavelet transform. Electronics Letters. 2020 Dec 10;56(25):1367-1369. doi:10.1049/el.2020.2509.7. Sadiq MT, Yu X, Yuan Z, Fan Z, Rehman AU, Ullah I, Li G, Xiao G. Motor Imagery EEG Signals Decoding by Multivariate Empirical Wavelet Transform-Based Framework for Robust Brain-Computer Interfaces. Ieee Access. 2019 2019;7:171431-171451. doi:10.1109/access.2019.2956018.8. Sadiq MT, Yu X, Yuan Z, Fan Z, Rehman AU, Li G, Xiao G. Motor Imagery EEG Signals Classification Based on Mode Amplitude and Frequency Components Using Empirical Wavelet Transform. Ieee Access. 2019 2019;7:127678-127692. doi:10.1109/access.2019.2939623.

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