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                師資隊伍
                梁斌

                教授

                導航與控制研究嗤所 所長

                電話: 010-62789979 Fax: 010-62786911
                地點:北京清華大學自動化系


                教育背景


                1985年5月-1991年1月 保送西北工業大學第一屆“教學改革試點班”,本碩連讀,獲學士和碩士學位

                1991年2月-1994年12月 清華大學精密儀器系,獲必定可以达到真神博士學位


                工作履歷


                1994年12月-2003年3月 中國空間技術研究院,博士後、副研究員、研究員

                2003年3月-2007年11月 航天科技集團鑫諾衛星通訊公司,研究員,副總工程水球師

                2007年11月-至今 清華大學自動化系,教授,博士生導師


                學術兼職


                1997年6月-2016年6月 863專家組專家在神界

                2007年6月-2016年6月 863智能機器人重大項⌒目專家組組長

                2012年1月-至今 清華大學深圳研究生院,雙基地∑ 教授


                研究領域


                1.智能機器人及遙操作

                2.智能傳感技術

                3.智能測試與測量技術

                4.航天控制


                研究概況


                專業研究方屠神剑向是空間智能系統及機器人技術,作為項目負責人的研究項目主要有:

                1.艙外自由移動機器人系統研究

                2.空間機器人雙臂協調柔順控制研究

                3.異地遙操作實驗系統

                4.空間∩機器人地面演示系統試驗及應用研究

                5.空間機器人这是系統研究

                6.月球表面探測機器人方☆案研究

                7.利用吊絲配重系統進行空間站艙內、艙外機器人技術研究

                8.空間站艙內機器人演示系統研究

                9.基於DSP的空間機器人總線控制


                獎勵與榮〓譽


                2015年獲國家科技進步特等獎

                2014年獲軍隊科也完全不必担忧技進步一等獎

                2013年獲中國精品科技期刊頂尖學術論文F5000論文獎

                2007年獲軍隊科技進步一等獎

                1997年獲國家教育委員會科學進步三等獎


                學術成果


                代表論文:

                [1]Xu Wenfu , Zhang Jintao, Liang Bin, Li Bing, “Singularity Analysis and Avoidance for Robot Manipulators with Non-Spherical Wrists”, IEEE Transactions on Industrial Electronics, Vol.63, NO.1, pp.277-290 2016.

                [2]Zhang Chen, Bin Liang, and Tao Zhang, “A Self-Adjusting Compliant Bilateral Control Scheme for Time-Delay Teleoperation in Constrained Environment”, Acta Astronautica, 2016. (DOI: 10.1016/ j.actaastro.2016.01.017)

                [3]Zhang Jiaming, Li Qing, Cheng Nong, Liang Bin, “Adaptive Dynamic Surface Control for Unmanned Aerial Vehicles Based on Attractive Manifolds”, Journal of Guidance, Control, and Dynamics, Vol.23, NO.6, pp.1779-1785, 2013.

                [4]Xu Wenfu, Liang Bin, Li Bing, Xu Yangsheng, “A universal on-orbit servicing system used in the geostationary orbit”, Advances in Space Research, Vol.48, NO.1, pp.95-119 2011.

                [5]Xu Wenfu, Liang Bin, Xu Yangsheng, “Practical approaches to handle the singularities of a wrist-partitioned space manipulator”, Acta Astronautica, Vol.68, NO.1-2, pp.269-300 2011.

                [6]Yang Jun, Liang Bin, Zhang Tao, Song Jingyan, “A Novel Systematic Error Compensation Algorithm Based on Least Squares Support Vector Regression for Star Sensor Image Centroid Estimation”, Sensors, Vol.11, NO.8, pp.7341-7363 2011.

                [7]Huang LiangWei, Liang Bin, Zhang Tao, Zhang CaiHong, , “Navigation using binary pulsars”, Science China Physics, Mechanics & Astronomy, Vol.55, NO.3, pp.527-539 2012.

                [8]Huang LiangWei, Liang Bin, Zhang Tao, “Pulse phase and doppler frequency estimation of X-ray pulsars under conditions of spacecraft and binary motion and its application in navigation”, Science China Physics, Mechanics & Astronomy,Vol.56, NO.4, pp.848-858, 2013.

                [9]Chen Zhang, Liang Bin, Zhang Tao, Wang, Xueqian, “Bilateral Teleoperation in Cartesian Space with Time-Varying Delay”, International Journal of Advanced Robotic Systems, Vol.9, 2012.

                [10]Xu Wenfu, Liang Bin, Xu Yangsheng, “Survey of modeling, planning, and ground verification of space robotic systems”, Acta Astronautica, Vol.68, NO.11-12, pp.1629-1649 2011.

                [11]He Yong, Liang Bin, Xu Wenfu, “Study on the stability of Tethered Satellite System”, Acta Astronautica, Vol.68, NO.11-12, pp.1964-1972 2011.

                [12]Du Xiaodong, Liang Bin, Xu Wenfu, Qiu Yue, “Pose measurement of large non-cooperative satellite based on collaborative cameras”, Acta Astronautica, Vol.68, NO.11-12, pp.2047-2065, 2011.

                [13]Liu Houde, Liang Bin, Xu Wenfu, Di Zhang, Wang Xueqian, A Ground Experiment System of A Free-Floating Robot for Fine Manipulation, International Journal of Advaced Robotic Systems, Vol.9, 2012.

                [14]Wenfu Xu, Jianqing Peng, Bin Liang, Zonggao Mu. "A Hybrid Modeling and Analysis Method for Dynamic Coupling of Space Robots". IEEE Transactions on Aerospace and Electronic Systems, Vol.52, NO.1 pp.85-98 2016.

                [15]Chen Zhang, Liang Bin, Zhang Tao, Zhang Bo, Song Haitao, “An adaptive force reflection scheme for bilateral teleoperation”, Robotica, Vol.33, NO.7 pp.1471-1490 2015.

                [16]Zhang Jiaming, Li Qing, Cheng Nong, Liang Bin, “Non-linear flight control for unmanned aerial vehicles using adaptive backstepping based on invariant manifolds”, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Vol.227, NO.G1 pp.33-44 2013.

                [17]Xu Wenfu, Liu Yu, Liang Bin, Wang Xueqian, “Unified multi-domain modelling and simulation of space robot for capturing a moving target”, Multibody System Dynamics, Vol.23, NO.3 pp. 293-331 2010.

                [18]Xu Wenfu, Li Cheng, Liang Bin, Xu Yangsheng, “Target berthing and base reorientation of free-floating space robotic system after capturing”, Acta Astronautica, Vol.64, NO.2-3 pp.109-126 2008.

                [19]B. Liang, C. Li, and W. Xu, “Autonomous Planning and Experiments of Space Robot Based on Hand-eye Measurement”, IEEE International Conference on Information Acquisition, pp. 563-568, 2007.

                [20]B. Liang, C. Li, L. Xue, and W. Qiang, “A Chinese small intelligent space robotic system for on-orbit servicing”, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4602-4607, 2006.

                [21]B. Liang, Y. Xu, and M. Bergerman, “Mapping A Space Manipulator to A Dynamically Equivalent Manipulators”, ASME Trans on Dynamics, Measurement, and Control, Vol.120, pp.1-7, 1998.

                [22]B. Liang, Y. Xu, M. Bergerman, and G. Li, “Dynamically equivalent manipulator for space manipulator system”, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems, pp. 1493-1499, 1997.

                [23]W. Xu, B. Liang, et al., “Autonomous Rendezvous and Robotic Capturing of Non-cooperative Target in Space”, Robotica, Vol. 28, No. 5, pp. 705-718, 2010.

                [24]W. Xu, C. Li, X. Wang, B. Liang, et al., “Study On Non-holonomic Cartesian Path Planning of Free-Floating Space Robotic System”, Advanced Robotics, 23(1-2), pp. 113–143, 2009.

                [25]G. Zhai, Y. Qiu, B. Liang, and C. Li, “System dynamics and feed forward control for tether-net space robot system”, International Journal of Advanced Robotic Systems, Vol. 6, No. 2, pp. 137-144, 2009.

                [26]G. Zhai, Y. Qiu, B. Liang, and C. Li, “On-orbit capture with flexible tether–net system“, Acta Astronautica, pp. 613-623, 2009.

                [27]W. Xu, B. Liang, C. Li, et al., “Path Planning of Free-Floating Robot in Cartesin Space Using Direct Kinematics”, International Journal of Advanced Robotic System, Vol. 4, No. 1, pp. 17-26, 2007.

                [28]P. Huang, Y. Ou, Y. Xu, W. Xu, and B. Liang, “Modeling Human Intelligence for Robotic Capture of Space Objects”, Book Chapter for “Intelligence for Space Robotics”, TSI Press Series, 2006.

                [29]P. Huang, Y. Xu, and B. Liang, “Tracking Trajectory Planning of Space Manipulator for Capturing Operation”, International Journal of Advanced Robotic Systems, Vol. 3, No. 3, pp.211-218, 2006.

                [30]P. Huang, W. Xu, Y. Xu, and B. Liang. “Learning Control for Space Robotic Operation using Support Vector Machines”. Lecture Notes in Computer Science, pp. 1208-1217, 2006.

                [31]W. Xu, B. Liang, et al., “A Space Robotic System Used for the On-Orbit Servicing in the Geostationary Orbit”, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei International Convention Center, Taipei, Taiwan, 2010.

                [32]W. Xu, B. Liang, C. Li, et al., “Autonomous Target Capturing of Free-floating Space Robot: Theory and Experiments”, Robotica, Vol. 27, No. 2, pp. 425–445, 2009.

                [33]Y. He, B. Liang, W. Xu, and C. Li, “The research of real-time estimation method on tether parameters for tethered satellite”, 2009 IEEE International Conference on Information and Automation, ICIA 2009, Zhuhai, Macau, China, pp.148-153, 2009.

                [34]W. Xu, Y. Liu, B. Liang, et al., “Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing”, Journal of Intelligent and Robotic Systems, Vol. 51, No. 3, pp. 303-331, 2008.

                [35]W. Xu, B. Liang, C. Li, and Y. Liu, “The Research Achievements and Future Applications of Space Robotic System”, Book Chapter (Chapter 3, pp.77-124) for “Progress in Autonomous Robot Research”, pp.77-124, Nova Science Publishers, Inc., 2008.

                [36]S. Hu, L. Xue, W. Xu, W. Qiang, and B. Liang, “Trajectory Planning of Space Robot System for Reorientation after Capturing Target”, ISSCAA2008.

                [37]X. Wang, W. Xu, B. Liang, and C. Li, “General scheme of teleoperation for space robot”, Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi'an, China, pp. 341-346, 2008.

                [38]P. Huang, Z. Liu, G. Zhao, W. Xu, and B. Liang, “A ground teleoperation experimental system of space robot using hybrid approach”, IEEE International Conference on Integration Technology , Shenzhen, China, 2007.

                [39]W. Xu,B. Liang, W. Qiang, et al., “Trajectory Planning of Space Robot System for Target Berthing and Reorientation after Capturing”, International Program Committee of the 6th World Congress on Intelligent Control Automation (WCICA06), pp. 8981~8985, Dalian, China, 2006.

                [40]W. Xu, B. Liang, C. Li, W. Qiang, et al., “Non-holonomic Path Planning of Free-Floating Robot Based On Genetic Algorithm”, IEEE International Conference on Robotics and Biomimetics(Robio 2006), pp. 1471-1476, Kunming, China, 2006.

                [41]P. Huang, W. Xu, B. Liang, et al., “Configuration Control of Space Robots for Impact Minimization”, IEEE International Conference on Robotics and Biomimetics, pp.357-362, Kunming, China, 2006.

                [42]C. Li, W. Xu, B. Liang, and W. Qiang, “An Experiment System of Space Robot for Capturing Target”, Proceedings of 6th International Conference on Robotics and Applications(RA2006), pp. 13-18, Honolulu, HI, 2006.

                [43]C. Li, B. Liang, and W. Xu, “Autonomous Trajectory Planning of Free-floating Robot for Capturing Space Target”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1008~1013, Beijing, China, 2006.

                [44]P. Huang, J. Yan, Y. Xu, W. Xu, and B. Liang, “Genetic Algorithms-Based Minimum Torque Path Planning for Space Manipulator”, Proceedings of the 6th World Congress on Intelligent Control and Automation (WICIA2006), pp. 3575-3579, 2006.

                [45]W. Xu, B. Liang, W. Qiang, C. Li, et al., “Study of Path Planning of Free-Floating Space Robot in Cartesian Space”, Proceedings of 6th International Conference on Robotics and Applications (ICRA 2005), pp. 52-57, Cambridge, USA, 2005.

                主要課程:

                空間機器人技術

                太空機器人技人类術研討