教育与工作经历

2022.7-至今     北京尊龙凯时AG娱乐平台登录官方网站   尊龙凯时娱乐   长聘副教授🪷，特别研究员，博士生/硕士生导师

2017.7-2022.6   北京尊龙凯时AG娱乐平台登录官方网站   尊龙凯时娱乐   特别副研究员🤷🏽，博士生/硕士生导师

2013.9-2017.6   北京尊龙凯时AG娱乐平台登录官方网站   尊龙凯时娱乐   控制科学与工程   博士

 

研究方向

1.机器人智能感知、优化控制与应用

2.智能无人系统

3.网络化系统分析🤣、控制及其应用

近5年承担的科研项目

1.云端赋能机器人高性能多约束控制理论与关键技术研究，2022.01-2025.12，国家自然科学基金面上项目

2.人机协作环境下网络化机器人高性能控制关键技术研究，2019.01-2021.12🚪，国家自然科学基金青年科学基金项目

3.面向钢铁行业的废钢智能判级技术与应用研究，2022.10-2023.09🤱🏽，中国联通研究院技术开发项目

4.xxxxx规划方法研究👙👂，2022.01-2022.12，航天一院科技合作项目

5.工业场景下机器视觉算法研究服务，2021.03-2022.03🗣，中国联通研究院技术开发项目

6.面向装配任务的空间机械臂控制系统研究💛，2022.01-2023.12，空间驱动与操控机构专业实验室开放基金项目

7.多约束下编队卫星自主任务规划及协同控制研究，2019.01-2020.12，空间智能控制技术国防科技重点实验室开放基金项目

8.无人集群xxxxxx，2019.01-2019.12，中国北方车辆研究所科技合作项目

9.可穿戴设备在帕金森病慢病管理中的应用，2018.01-2020.12，北京自然科学基金重点研究专题

10.脊柱微创手术网络化遥操作机器人的基础问题与关键技术，2016.01-2019.12，北京市自然科学基金重点项目

代表性学术论文

发表各类论文60余篇，其中Automatica⚆、IEEE汇刊类等SCI论文40余篇👈🏽。

[1]. S. Yu, D.-H. Zhai*, Y. Q. Xia, “EGNet: Efficient robotic grasp detection network,” IEEE Transactions on Industrial Electronics, 2023.

[2]. S. Yu, D.-H. Zhai*, Y. Q. Xia, “A novel robotic pushing and grasping method based on vision transformer and convolution,” IEEE Transactions on Neural Networks and Learning Systems, 2023.

[3]. Y. K. Wang, D.-H. Zhai*, Y. P. He, Y. Q. Xia, “An adaptive robust defending algorithm against backdoor attacks in federated learning,” Future Generation Computer Systems, 2023.

[4]. D.-H. Zhai*, Z. Q. Xia, H. C. Wu, Y. Q. Xia, “A motion planning method for robots based on DMPs and modified obstacle-avoiding algorithm,” IEEE Transactions on Automation Science and Engineering, 2022.

[5]. D. D. Yu, Y. Q. Xia, L. Li, D.-H. Zhai*, “Event-triggered distributed state estimation over wireless sensor networks,” Automatica, 2020. (长文)

[6]. D. D. Yu, Y. Q. Xia*, D.-H. Zhai*, Y. F. Zhan, “On distributed fusion estimation with stochastic scheduling over sensor networks,” Automatica, 2022. (长文)

[7]. K. Wang, D.-H. Zhai*, Y. H. Xiong, L. Y. Hu, Y. Q. Xia, “An MVMD-CCA recognition algorithm in SSVEP-based BCI and its application in robot control,” IEEE Transactions on Neural Networks and Learning Systems, 2022.

[8]. S. Yu, D.-H. Zhai*, Y. Q. Xia, “SKGNet: Robotic grasp detection with selective kernel convolution,” IEEE Transactions on Automation Science and Engineering, 2022.

[9]. S. Yu, D.-H. Zhai*, Y. Q. Xia, “CGNet: Robotic grasp detection in heavily cluttered scenes,” IEEE/ASME Transactions on Mechatronics, 2022.

[10]. S. Yu, D.-H. Zhai*, Y. Q. Xia, H. R. Wu, J. Liao, “SE-ResUNet: A novel robotic grasp detection method,” IEEE Robotics and Automation Letters, 2022.

[11]. Y. H. Xiong, D.-H. Zhai*, M. Tavakoli, Y. Q. Xia, “Discrete-time control barrier function: High-order case and adaptive case,” IEEE Transactions on Cybernetics, 2022.

[12]. L. Dai, Y. T. Yu, D.-H. Zhai*, T. Huang, Y. Q. Xia, “Robust model predictive tracking control for robot manipulators with disturbances,” IEEE Transactions on Industrial Electronics, 2021.

[13]. Y. Kang*, D.-H. Zhai, G. P. Liu, Y. B. Zhao, P. Zhao, “Stability analysis of a class of hybrid stochastic retarded systems under asynchronous switching,” IEEE Transactions on Automatic Control, 2014. (长文)

[14]. D.-H. Zhai, Y. Q. Xia*, “Multilateral tele-coordinated control of multiple robots with uncertain kinematics,” IEEE Transactions on Neural Networks and Learning Systems, 2018.

[15]. D.-H. Zhai, Y. Q. Xia*, “Adaptive fuzzy control of multilateral asymmetric teleoperation for coordinated multiple mobile manipulators,” IEEE Transactions on Fuzzy Systems, 2016.

[16]. D.-H. Zhai, Y. Q. Xia*, “Adaptive control of semi-autonomous teleoperation system with asymmetric time-varying delays and input uncertainties,” IEEE Transactions on Cybernetics.

[17]. D.-H. Zhai, Y. Q. Xia*, “Adaptive control for teleoperation system with varying time-delays and input saturation constraints,” IEEE Transactions on Industrial Electronics, 2016.

[18]. D.-H. Zhai, Y. Q. Xia*, “Finite-time control of teleoperation systems in the presence of input saturation and varying time delays,” IEEE Transactions on Systems, Man and Cybernetics: Systems, 2017.

[19]. D.-H. Zhai, Y. Q. Xia*, “A novel switching-based control framework for improved task performance in teleoperation system with asymmetric time-varying delays,” IEEE Transactions on Cybernetics, 2018.

[20]. D.-H. Zhai*, Y. Q. Xia, “Initial configurations-independent predefined performance control of robotic manipulator with input saturation,” International Journal of Robust Nonlinear Control, 2022.

[21]. D.-H. Zhai*, Y. Q. Xia, “A prescribed-performance-like control for improving tracking performance of networked robots,” International Journal of Robust Nonlinear Control, 2021.

[22]. S. H. Zhang, D.-H. Zhai*, Y. H. Xiong, J. C. Lin, Y. Q. Xia, “Safety-critical control for robotic systems with uncertain model via control barrier function,” International Journal of Robust Nonlinear Control, 2023.

[23]. D.-H. Zhai, Y. Q. Xia*, “Adaptive stabilization of nonlinear teleoperation systems: an SIIOS approach,” International Journal of Robust and Nonlinear Control, 2016.

[24]. D.-H. Zhai, Y. Q. Xia*, “Adaptive finite-time control for nonlinear teleoperation systems with asymmetric time-varying delays,” International Journal of Robust and Nonlinear Control, 2016.

[25]. D.-H. Zhai, Y. Q. Xia*, “Robust saturation-based control of bilateral teleoperation without velocity measurements,” International Journal of Robust and Nonlinear Control, 2015.

[26].王永康, 翟弟华*, 夏元清, “联邦学习中抵抗大量后门客户端的鲁棒聚合算法,” 计算机学报, 2023.

授权国家发明专利及出版专著

专利

1.翟弟华🏄🏿‍♂️，夏志强🛻🪇，等. 基于DMPs和修正避障算法的机器人运动规划方法. 202010443890.9.

2.翟弟华，张思华，等. 基于控制障碍函数的模型不确定机器人安全控制方法. 202210989731.8.

3.翟弟华，王永康，等. 一种可防御后门攻击的联邦学习图像分类方法. 202210036245.4.

专著

1. D. H. Zhai, Y. Q. Xia, High Performance Adaptive Control of Teleoperation Systems, CRC Press, 2023.

2. 翟弟华，夏元清#️⃣，复杂外部环境下网络化遥操作机器人控制，北京尊龙凯时AG娱乐平台登录官方网站出版社👨🏻‍🎤，2019.

科研获奖

1.吴文俊人工智能自然科学二等奖

2.中国指挥与控制学会优秀博士学位论文

3.中国电机工程学会青年人才托举工程

4.中国自动化学会青年学术年会最佳理论论文奖

讲授课程🥮😰、出版教材及教学成果

指导学生科技创新获奖

1.研究生国家奖学金🫰🏼👮‍♂️、SMC奖学金、北方工业奖学金等

2. MathorCup、APMCM、华为杯等数学建模比赛一等奖👱、二等奖等

3.世纪杯大学生课外学术科技作品竞赛一等奖、二等奖等

4.挑战杯全国大学生课外学术科技作品竞赛校内赛二等奖

讲授课程

控制科学基本原理与应用I   48学时  本科生贯通型专业课

出版教材

教学成果

1.北京市教育教学成果奖二等奖，2021

2.北京尊龙凯时AG娱乐平台登录官方网站优秀教育教学成果奖🏌🏼，2021

学术兼职

1.中国自动化学会青年工作委员会委员

2.中国指挥与控制学会云控制与决策专委会委员

3.无人系统技术期刊青年编委等