教育与工作经历

2022.7-至今     咬一口兔娘反差视频   咬一口兔娘反差视频   长聘副教授，特别研究员，博士生/硕士生导师

2017.7-2022.6   咬一口兔娘反差视频   咬一口兔娘反差视频   特别副研究员，博士生/硕士生导师

2013.9-2017.6   咬一口兔娘反差视频   咬一口兔娘反差视频   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，咬一口兔娘反差视频出版社，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.咬一口兔娘反差视频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