2018/11/14 星期三

王正雨

2018-10-23
姓 名王正雨

职 称讲师 硕导
职 务
所属系机械电子工程系
邮 箱wangzhengyu_hfut@hfut.edu.cn
电 话18715023950
个人基本情况
王正雨,男,1987年生,博士,讲师,硕士生导师。20173月毕业于哈尔滨工程大学机械工程专业,获得工学博士学位;201411-201511月国家公派留学CSC联合培养博士,慕尼黑工业大学(TUM)自动控制工程研究所(LSR)。20174月进入合肥工业大学机械工程学院工作。主持国家自然科学基金青年基金、国家重点研发计划项目子课题、重点实验室开放基金、校学术新人提升计划B项目、校博士专项资助项目。在Mechanism and Machine TheoryIEEE Sensors JournalRobotica、《机器人》期刊与会议上发表SCI/EI学术论文20余篇,申请发明专利20余项。担任IEEE Transactions on Industrial InformaticsMechatronicsJournal of Intelligent & Robotic SystemsRoboticaAdvanced Robotics等期刊审稿人。作为骨干成员参与国家自然科学基金、装备预研教育部联合基金等项目的研究工作。指导本科生大创项目国家级1项、省级2项。
主要研究方向

1.机器人技术与智能控制

2.柔性驱动手术机器人

3.智能涂装机器人系统

4.触觉感知与人机交互
开设课程
《控制工程基础》、《控制技术及方法》
近年的科研项目、专著与论文、专利、获奖

科研项目:

[1] 国家自然科学基金青年基金,518051292019/01-2021/1226万,在研,主持;

[2] 天津市宇航智能装备技术企业重点实验室开放课题,TJYHZN2019KT0062019/04-2020/125万,在研,主持;

[3] 校学术新人提升计划B项目,JZ2019HGTB00782019/04-2020/1220万,在研,主持;

[4] 国家重点研发计划项目子课题,JZ2018ZDYF01962017/12-2020/1143万,在研,主持;

[5] 校博士专项资助基金,JZ2017HGBZ09652017/05-2019/042万,已结题,主持;

[6] 国家自然科学基金联合基金项目,U19A201012020/01-2023/12,在研,参与;

[7] 装备预研教育部联合基金,6141A020221342019/01-2020/12,在研,参与;

[8] 国家自然科学基金重大项目(培育),917481092018/01-2020/12,在研,参与。

  

发表学术论文

  

(一)期刊论文

[1] Zhengyu Wang, Bin Zi*, Daoming Wang, Jun Qian, Wei You, Lingtao Yu. External force self-sensing based on cable-tension disturbance observer for surgical robot end-effector. IEEE Sensors Journal, 2019, 19(13): 5274-5284.

[2] Zhengyu Wang,Bin Zi*, Huafeng Ding, Wei You, Lingtao Yu. Hybrid grey prediction model-based autotracking algorithm for the laparoscopic visual window of surgical robot. Mechanism and Machine Theory, 2018, 123: 107-123.

[3] Zhengyu Wang,Daoming Wang*, Bing Chen, Lingtao Yu, Jun Qian, Bin Zi. A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors. Sensors, 2019, 19(23): 5291.

[4] Daoming Wang, Yakun Wang, Jiawei Pang,Zhengyu Wang*, Bin Zi. Development and Control of an MR Brake-Based Passive Force Feedback Data Glove. IEEE Access, 2019, 7: 172477-172488.

[5] Lingtao Yu, Zhengyu Wang*,Liqiang Sun, Wenjie Wang, Lan Wang, Zhijiang Du. A new forecasting kinematic algorithm of automatic navigation for a laparoscopic minimally invasive surgical robotic system. Robotica, 2017, 35(5): 1192-1222.

[6] Lingtao Yu, Zhengyu Wang*, Peng Yu, Tao Wang, Huajian Song, Zhijiang Du. A new kinematics method based on a dynamic visual window for a surgical robot. Robotica, 2014, 32(4): 571-589.

[7] Lingtao Yu, Zhengyu Wang*, Wenjie Wang, Hongwei Li, Lan Wang. Research on micromanipulator’s clamping force sensing based on static wirerope tension of a surgical robot, Advances in Mechanical Engineering, 2015, 7(4): 1-11.

[8] 于凌涛, 王正雨*, 于鹏, 王涛, 宋华建. 基于动态视觉引导的外科手术机器人器械臂运动方法. 机器人, 2013, 35(2): 162-170.

[9] 于凌涛, 王文杰, 王正雨, 谷庆, 王岚. 一类不满足Pieper准则的机器人逆运动学解析解获取方法. 机器人, 2016, 38(4): 486-494.

(二)国际会议论文

[1] Zhengyu Wang*,Bin Zi, Daoming Wang, Jun Qian. Design, Modeling and Analysis of a Novel Backdrivable Cable-driven Series Elastic Actuator. Proceedings of the 19th IEEE International Conference on Nanotechnology (IEEE NANO 2019), Macau SAR, China, July 22-26, 2019, pp. 179-183.

[2] Yajun Liu, Bin Zi, Zhengyu Wang*, Daoming Wang, Lei Zheng. Kinematics Calibration of Spraying Robot based on Laser Tracker. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 827-823.

[3] Jiarui Wan, Zhengyu Wang*, Bin Zi, Daoming Wang, Zixiang Cao. Kinematics Modeling and Analysis of a Novel Five-DoF Spraying Robot. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 524-529.

[4] Jingfeng Pan, Bin Zi, Zhengyu Wang*, Sen Qian, Daoming Wang. Real-time Dynamic Monitoring of a Multi-robot Cooperative Spraying System. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 862-867.

[5] Kai Feng, Zhengyu Wang*, Bin Zi, Daoming Wang, Sen Qian. Research on a Virtual Simulation System for Master-slave Teaching of a Spraying Robot. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 403-408.

[6] Zhengyu Wang*, Yuan Li, Bin Zhou, Lingtao Yu, Jun Qian, Daoming Wang. Contrastive analysis of dynamics modelling and parameters identification for a flexible finger joint based on cable-driven series elastic actuator. 2017 International Conference on Advanced Mechatronic Systems (ICAMechS 2017), Xiamen, China, December 6-9, 2017, pp. 435-440.

  

授权发明专利:

[1] 微创外科手术用手动三自由度微机械手,授权号: ZL2012100118131,第2发明人;

[2] 一种机器人辅助微创外科手术多功能器械臂,授权号: ZL2013105563412,第2发明人;

[3] 具有快换接口功能的外科手术机器人用二自由度机构,授权号: ZL2014100854613,第2发明人;

[4] 微创手术机器人用多自由度微操作手指,授权号: ZL2014101258398,第2发明人;

[5] 三轴交汇式姿态主手机构,授权号: ZL2012102160059,第3发明人;

[6] 外科手术用手动多自由度微机械手,授权号: ZL201210393706X,第3发明人;

[7] 一种具有自标定功能的6-PTRT型并联机器人,授权号: ZL2014101746103,第3发明人;

[8] 面向外科手术机器人微器械夹持力的测试平台,授权号: ZL2014100854492,第3发明人。



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