计算机科学与技术系

Department of Computer Science and Technology

Education background

Bachelor of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China, 1997;

Master of Electric Engineering, Tongji University, Shanghai, China, 2000;

Ph.D. in Computer Science & Technology, Tsinghua University, Beijing, China, 2004.

Areas of Research Interests/ Research Projects

Robot Intelligent Control

Visual Object Tracking

National Natural Science Foundation of China: Hinf Control and Filtering for Markov Jumping Systems (2006-2008);

National 863 High-Tech Program: Key Technologies of Robotic Tele-Operation (2007-2010).

Research Status

To address the non-linear and multiple-time scale difficulties existing in flexible systems, we have proposed a novel fuzzy singularly perturbed model, and developed a robust controller design approach using convex optimization. Some representative work has been published in IEEE Trans. on Fuzzy Systems (regular paper) and Fuzzy Sets and Systems (full paper).

We utilized Markov Jumping Model to describe the problems of packet loss and time delay in current networks, and investigated the issues of robust control and filtering in these methods. In addition, facing difficulties that jumping mode cannot be measured in real-time, we have researched on the design approaches of mode-independent controllers and filers. Some representative work has been published in IEEE Trans. On Automatic Control, Automatica and IEEE Trans. on Circuits and Systems II.

We have developed a series of experimental platforms of mobile robots (intelligent vehicles) and space tele-operation robots. We have also incorporated machine learning techniques into particle filters, and developed a series of robust visual tracking algorithms. Some representative work has been published in ICRA 2007-2009, ICASSSP 2009, and IROS 2007 and 2009.

Academic Achievement

[1] H. Liu, D. Ho, and F. Sun. Design of Hinf filter for Markov jumping linear systems with non-accessible mode information, Automatica, vol. 44, no. 10, pp. 2655-2660, 2008

[2] H. Liu, D. Ho, and F. Sun. A constructive approach to approximate linear periodic systems, IEEE Transactions on Automatic Control, vol. 52, no. 3, pp. 541-546, 2007

[3] H. Liu, E. Boukas, F. Sun, and D. Ho. Controller design for Markovian jumping systems subject to actuator saturation, Automatica, vol. 42, no. 3, pp. 459-465, 2006

[4] H. Liu, F. Sun, and Y. Hu. Hinf control for fuzzy singularly perturbed systems, Fuzzy Sets and Systems, vol. 155, no. 2, pp. 272-291, 2005

[5] H. Liu, F. Sun, and Z. Sun. Stability analysis and synthesis of fuzzy singularly perturbed systems, IEEE Transactions on Fuzzy Systems, vol. 13, no. 2, pp. 273-284, 2005

[6] H. Liu, and F. Sun. Semi-supervised particle filter for visual tracking. Proc. of IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, 2009, pp. 3928-3933.

[7] H. Liu, and F. Sun. Semi-supervised ensemble tracking. Proc. of International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2009), Taibei, China, 2009,pp. 1645-1648.

[8] H. Liu, and F. Sun. Fusion tracking in color and infrared images using sequential belief propagation, Proc. of IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, California, U.S.A., 2008, pp. 2259-2264.

[9] H. Liu, F. Sun, L. Yu, and K. He. Vehicle tracking using stochastic fusion-based particle filter, Proc. of International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, CA, U.S.A. 2007, pp. 2735-2740.

[10] H. Liu, F. Sun, and K. He. Symmetry-aided particle filter for vehicle tracking, Proc. of IEEE International Conference on Robotics and Automation (ICRA 2007), Roma, Italy, 2007, pp.4633-4638