XU Wenfu
Address:
Associate Professor, Supervisor of PhD Candidates, Harbin Institute of Technology Shenzhen Graduate  (518055)
Email:
wfxu@hit.edu.cn
Phone:
+86-755-26033486
+86-755-26033774(Fax)
PERSONAL PROFILE
 
Dr. XU, Wenfu is currently a associate professor of Harbin Institute of Technology Shenzhen
Graduate School, Shenzhen,China. He is also a supervisor of PhD candidates. He received his B.E.degree in 2001, and M.E. degree in 2003, both in control engineering, from Hefei University of Technology, China, and his Ph.D. degree in the control science and engineering from Harbin Institute of Technology, China, in 2007. He worked on robotics research at Advanced Robotics Lab (Led by Prof. Xu, Yangsheng) of The Chinese University of Hong Kong (CUHK) from 2013 to 2014. His research interests include space robotics, multi-body system dynamics, redundant manipulator, and so on.
Based on his research, he has published more than 40 papers, including 18 international journal papers, and over 20 international conference papers from major international journals and conference proceedings in robotics and automation. He has been involved in more than 10 national research projects, including 2 projects granted by National Nature Science Foundation of China (NSFC), 3 projects by Aerospace Science and Technology Innovation Fund of China and National High-tech R&D Program (863 Program), and several projects funded by Open Foundation of State Key Laboratory of Robotics and System.
RESEARCH INTEREST
 
(1) Space Robotics
(2) Nuclear Power Plant Robotics
(3) The Dynamics and Vibration Suppression of Flexible Manipulator
(4) Visual Servoing Control
(5) The Pose Measurement of Non-cooperative Targets
EDUCATION  
2004-2007
D.E. in Control Science and Engineering, Harbin Institute of Technology, China.
Thesis: ‘ Path Planning and Experiment Study of Space Robot for Target Capturing ’
2001-2004
M.E.Sc. in Detection Technology and Automation Device , Hefei University of Technology, China.
Thesis: ‘ The Study of signal processing and driving methods of Coriolis Mass Flowmeter ’
1997-2001
B.E.Sc. in Automation , Hefei University of Technology, China.
Thesis: ‘ The Signal Processing Method of Coriolis Mass Flowmeter Based on A Digital Phase Locked Loop ’
RESEARCH & WORK EXPERIENCE  
2013.4.25-
Supervisor of PhD Candidates
2010-
Associate Professor, School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School
2013-
Research Associate, Dept. Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK)
2007-2009
Lecturer, The Academy of Fundamental and Interdisciplinary Sciences, Harbin Institute of Technology
2008-2010
Postdoctoral Research Fellow, Harbin Institute of Technology/ Shenzhen Academy of Aerospace Technology
PROFESSIONAL QUALIFICATION & ACADEMIC SERVICE
 
2009-
Member, Chinese Society of Astronautics , China
2013-
Member, IEEE
RESEARCH PROJECTS
2011.1-2015.12
National Nature Science Foundation of China (NSFC) Project: Study on Dynamic and Control of Space Robot Capturing Large Flexible Non-Cooperative Spacecraft(61175098)
2009.1-2011.12
National Nature Science Foundation of China (NSFC): “The Study on the Key Technologies of Autonomous Recognition and Capturing of Non-Cooperative Target in Near Distance for Space Robot”
2011.1-2013.12
Aerospace Science and Technology Innovation Fund of China, Study on Dynamic and Control for Capturing/Docking Large Flexible Spacecraft(CASC201102)
2013.12-2014.12
National High-tech R&D Program (863 Program) Sub-Project: Coordinated Control of Multi-arm Space Robotic Systems.
2013.12-2014.12
National High-tech R&D Program (863 Program) Sub-Project: Reconfiguration Space Robots for On-orbit Servicing.
2013.6-2014.6
Sub-project of National High-tech R&D Program (863 Program), The Key Technology Research and Experimental Verification of XXX manipulators (Commissioned by Shenzhen Aerospace Dongfanghong Development Ltd, China)
2012.6-2013.6
The Real-time Path Planning and Simulation System Development of AGV team (Commissioned by The Chinese University of Hong Kong )
2012.1-2013.12
Research on the Dynamic Modeling and Path Planning of Redundant Space Manipulators (Commissioned by the Shenzhen Institute of Advanced Intelligent Technology )
2012.1-2013.12
The Key Technology Research and Simulation System Development(Commissioned by the Shenzhen Institute of Advanced Intelligent Technology )
2013.1-2014.12
Open Foundation of State Key Laboratory of Robotics and System, Study on Dynamic and Control of Large Flexible Space Manipulator for On-Orbital Manipulation(SKLRS-2012-MS-05)
RESEARCH ACHIEVEMENT & AWARDS
2008
Excellent Doctoral Dissertation of Harbin Institute of Technology
2013
Best Paper Finalists of Robio 2013:
“Inverse Kinematics of SSRMS-type Manipulators with Single Joint Locked Failure”, 2013.12.12
2013
"Forerunners-5000-China's top scientific journals fine papers"
2011
Excellent Reviewers, Journal of Astronautics
2013
Excellent Reviewers, Journal of Harbin Institute of Technology
PATENT
   
The Digital Signal Processing System of Coriolis Mass Flowmeter based on AFF and SGA, Number: CN.03108944.5, Inventor: XU Kejun, XU Wenfu, Date of Authorizing: March 1st 2003
PAPER & BOOK PUBLICATIONS
[1] Wenfu Xu, Deshan Meng, Yongquan Chen, Huihuan Qian, Yangsheng Xu. "Dynamics Modeling and Analysis of a Flexible-Base Space Robot for Capturing Large Flexible Spacecraft”. Multibody System Dynamics (DOI 10.1007/s11044-013-9389-0, 2012 IF: 2.023);

[2] Wenfu Xu, Yu Liu, Bin Liang, Xueqian Wang, Yangsheng Xu. “Unified Multi-domain Modeling and Simulation of Space Robot for Capturing a Moving Target”. Multibody System Dynamics, 2010, 23(3): 293-331 (IF: 1.259);

[3] Wenfu Xu, Bin Liang, Bing Li, Yangsheng Xu. “A Universal On-orbit Servicing System Used in the Geostationary Orbit”. Advances in Space Research, 2011, 48(1): 95-119 (IF: 1.178);

[4] Wenfu Xu, Yu Liu and Yangsheng Xu. “The Coordinated Motion Planning of a Dual-arm Space Robot for Target Capturing”. Robotica, 2012, 30(5): 755-771 (IF: 1.032);

[5] Wenfu Xu, Bin Liang, Cheng Li, Yangsheng Xu. “Autonomous Rendezvous and Robotic Capturing of Non-cooperative Target in Space”. Robotica, 2010, 28(5): 705-718 (IF: 0.939).

[6] Wenfu Xu, Bin Liang , Cheng Li , Yu Liu, Yangsheng Xu. “Autonomous Target Capturing of Free-floating Space Robot: Theory and Experiments”. Robotica, 2009, 27(2): 425–445 (IF: 0.992);

[7] Wenfu Xu, Cheng Li, Xueqian Wang, Bin Liang, Yu Liu, Yangsheng Xu. “Study On Non-holonomic Cartesian Path Planning of Free-Floating Space Robotic System”. Advanced Robotics, 2009, 23(1-2): 113–143 (IF: 0.629);

[8] Wenfu Xu, Yu Liu, Bin Liang, Yangsheng Xu,Wenyi Qiang. “Nonholonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms”. Advanced Robotics, 2008, 22(4): 451–476 (IF: 0.737).

[9] Wenfu Xu, Yu Liu, Bin Liang, Yangsheng Xu,Wenyi Qiang. “Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing”. Journal of Intelligent and Robotic Systems, 2008, 51(3): 303-331 (IF: 0.560)

[10] Wenfu Xu, Bin Liang, Yangsheng Xu, Cheng Li, Wenyi Qiang. “A Ground Experiment System of Free-floating Space Robot For Capturing Space Target”. Journal of Intelligent and Robotic Systems, 2007, 48(2): 187-208 (IF: 0.459);

[11] Wenfu Xu, Bin Liang, Yangsheng Xu. “Practical approaches to handle the singularities of a wrist-partitioned space manipulator”. Acta Astronautica, 2011, 68(1-2): 269-300 (IF: 0.614);

[12] Wenfu Xu, Bin Liang and Yangsheng Xu. “Survey of Modeling, Planning, and Ground Verification of Space Robotic Systems”. Acta Astronautica, 2011, 68(11-12): 1629-1649 (IF: 0.614);

[13] Wenfu Xu, Cheng Li, Bin Liang, Yangsheng Xu, Yu Liu, Wenyi Qiang. “Target Berthing and Base Reorientation of Free-floating Space Robotic System after Capturing”. Acta Astronautica, 2009, 64(2-3): 109-126(IF: 0.508);

[14] Wenfu Xu, Bin Liang , Cheng Li, Yu Liu, Xueqian Wang. “A Modeling and Simulation System of Space Robot For Capturing Non-Cooperative Target”. Mathematical and Computer Modeling of Dynamical Systems, 2009, 15(4): 371–393 (IF: 0.594);

[15] Wenfu Xu, Bin Liang, Cheng Li, Yangsheng Xu. “Autonomous Capturing of Moving Target with Optimal Rendezvous Attitude and Manipulator Configuration”. International Journal of Robotics and Automation, 2010, 25(4): 285-293 (IF: 0.206);

[16] Wenfu Xu, Cheng Li, Bin Liang, Yu Liu, Yangsheng Xu. “The Cartesian Path Planning of Free-Floating Space Robot Using Particle Swarm Optimization”. International Journal of Advanced Robotic Systems, 2008, 15(3): 301-310 (IF: 0.326);

[17] Wenfu Xu, Bin Liang, Cheng Li, Yangsheng Xu, Wenyi Qiang. “Path planning of free-floating robot in cartesian space using direct kinematics”. International Journal of Advanced Robotic Systems. March 2007, 4(1): 17-26 (IF: 0.326);

[18] Houde Liu, Bin Liang, Wenfu Xu*, Zhang Di, Xueqian Wang. “A Ground Experiment System of a Free-Floating Robot for Fine Manipulation”. International Journal of Advanced Robotic Systems, 2012, 9(183): 1-10 ( IF: 0.375).

[19]Wenfu Xu, Xueqian Wang, Qiang Xue, Bin Liang. Study on Trajectory Planning of Dual-arm Space Robot Keeping the Base Stabilized[J]. Acta Automatica Sinica, 2013, 39(1): 69–80.
CONFERENCE PAPERS/TALKS
 
[1] Jianqing Peng, Wenfu Xu*, Zhiying Wang, Deshan Meng. Analytical Inverse Kinematics and Trajectory Planning for a 6DOF Grinding Robot[C]. The IEEE International Conference on Information and Automation. Yinchuan, China,2013: 832-837.

[2] Jianqing Peng, Wenfu Xu*, Zhiying Wang, Yu She. Dynamic Analysis of the Compounded System Formed by Dual-arm Space Robot and the Captured Target[C]. IEEE International Conference on Robotics and Biomimetics(Robio 2013), Shenzhen, China, 2013 (Decmenber 12-14, 2013);

[3] Yu Zhang, Wenfu Xu*, Zhiying Wang. Dynamic Modeling of Self-reconfigurable Multi-arm Space Robotic System with Variable Topology [C]. IEEE International Conference on Robotics and Biomimetics(Robio 2013), Shenzhen, China, 2013 (Decmenber 12-14, 2013)

[4] Siran Zhang, Wenfu Xu*, Zhiying Wang, Yu She. Singularity Analysis for a Class of Serial Manipulators with Non-Spherical Wrist[C]. IEEE International Conference on Robotics and Biomimetics(Robio 2013), Shenzhen, China, 2013 (Decmenber 12-14, 2013)

[5]Yu She, Wenfu Xu*, Zhiying Wang, Jianqing Peng. Inverse Kinematics of SSRMS-type Manipulators with Single Joint Locked Failure [C]. IEEE International Conference on Robotics and Biomimetics(Robio 2013), Shenzhen, China, 2013 (Decmenber 12-14, 2013)

[6]Deshan Meng, Wenfu Xu*, Chao Xu, Zonggao, Mu. Modeling and Simulation Study of Flexible Space Robot for Capturing Large Flexible Spacecraft[C]. The 32nd Chinese Control Conference, Xi’an, China, 2013 (July 26-28, 2013): 5837- 5842;

[7]张金涛,徐文福*,孟得山. 基于臂型角参数化的冗余空间机械臂逆运动学求解方法[C]. 第32届中国控制会议, 西安, 中国, 2013 (July 26-28, 2013): 6022- 6027;

[8]Wenfu Xu, Jintao Zhang, Huihuan Qian, Yongquan Chen, Yangsheng Xu. Identifying the Singularity Conditions of Canadarm2 Based on Elementary Jacobian Transformation[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013 (November 3-8, 2013): 795-800.

[9]Wenfu Xu, Qiang Xue, Houde Liu, Xiaodong Du, “A Pose Measurement Method of a Non-Cooperative GEO Spacecraft Based on Stereo Vision”, The 2012 International Conference on Control, Automation, Robotics and Vision (ICARCV 2012), Guangzhou, China, 2012: 966-971.

[10]Wenfu Xu, Houde Liu, Yu She, and Bin Liang. “Path Planning of Dual-arm Space Robot for Keeping the Base Inertially Stabilized during Target Capturing”. The IEEE International Conference on Robotics and Biomimetics(Robio 2012), Guangzhou, China, 2012: 1536-1541.

[11]Wenfu Xu, Bin Liang, and Yangsheng Xu, “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, October 18-22, 2010, pp. 4089-4094 (EI: 20110313602767);

[12]Wenfu Xu, Yu Liu, Bin Liang, Cheng Li and Yangsheng Xu, “Study on Unified Multi-domain Modeling of Space Robot for Target Capturing”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, 2009(July 14-17): pp.374-379 (EI: 20094512425861;ISTP: IDS 号: BON35);

[13]Wenfu Xu, Bin Liang, Wenyi Qiang, Panfeng Huang, Yangsheng Xu. “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), Dalian, China. 2006, pp. 8981~8985(EI: 071510544257);

[14]Wenfu Xu, Bin Liang, Cheng Li, Wenyi Qiang, Yangsheng Xu, Ka Keung Lee, “Non-holonomic Path Planning of Free-Floating Robot Based On Genetic Algorithm”, IEEE International Conference on Robotics and Biomimetics(Robio 2006), Kunming, China, 2006, pp. 1471-1476 (EI: 082811359842; ISTP: BGB31);

[15]Wenfu Xu, Bin Liang, Qiang Wenyi, Cheng Li, Panfeng Huang, Yangsheng Xu. “Study of Path Planning of Free-Floating Space Robot in Cartesian Space”, Proceedings of 6th International Conference on Robotics and Applications (RA 2005). Cambridge, USA. 2005, pp. 52-57(ISTP: BDP05);

[16] 徐文福, 强文义, 梁斌, 李成. 基于虚拟样机技术的机器人系统的建模与闭环控制仿真[C] .第17届控制与决策学术年会, 哈尔滨, 2005(ISTP: BFR69)
TEACHING/SUPERVISING EXPERIENCE
Grade 2012
[1] Wang Zhao, Male, 2012-2014, Bachelor Degree from Harbin Institute of Technology, Master student, is working on “Hybrid Force/Position Control of Reconfigurable Space Robot”.

[2] Da Guan, Male, 2012-2014, Bachelor Degree from Harbin Institute of Technology, Master student, is working on “Key Technology Research of Small Intelligent Monitoring Robot of Nuclear Power Plant”.

[3] Siran Zhang, Female, 2012-2014, Bachelor Degree from East China University of Science and Technology, Master student, is working on “Inverse Kinematics and Singularity Avoidance of Redundant Manipulator”.

[4] Yu Zhang, Female, 2012-2014, Bachelor Degree from Harbin University of Commerce, Master student, is working on “The Dynamic and Control of Reconfigurable Space Robot”.

[5] Heming Tian, Male, 2012-2014, Bachelor Degree fromNorth China Institute of Aerospace, Master student, is working on “The Motion Control of Cable Following Robot”.

[6] Lizhou Xu, Male, 2012-2014, Bachelor Degree from Inner Mongolia University of Technology, Master student, is working on “The Trajectory Planning of a Team of Space Robots”.

[7] Jianqing Peng, Male, 2012-2014, Bachelor Degree from Huazhong Agricultural University, Master student, is working on “The Dynamic and Control of Large Payload Industrial Robot”.
Grade 2011
Grade 2011
[1] Deshan Meng, Male, 2011-2013, Bachelor Degree from Liaoning University of Science and Technology, Master student, is working on “The Dynamics and Vibration Suppression for Capturing Large Flexible Spacecraft”.

[2] Ruixing Zhou, Male, 2011-2013, Bachelor Degree from Yanshan University, Master student, is working on “The Compliance Control of Space Robot for ORU replacement on orbit”.

[3] Zonggao Mou, Male, 2011-2013, Bachelor Degree from Shandong University of Science and Technology, Master student, is working on “Research on Collision detection and obstacle avoidance method of Redundant Space Manipulator”.

[4] Yu She, Male, 2011-2013, Bachelor Degree from Taiyuan University of Technology, Master student, is working on “Fault-tolerant Control of Redundant Manipulator with Single Joint Failure”.

[5] Chao Xu, Male, 2011-2013, Bachelor Degree from Central South University, Master student, is working on “The Modeling and Vibration Suppression of Large Flexible Space Robot”.

[6] Jintao Zhang, Male, 2011-2013, Bachelor Degree from Hebei University of Engineering, Master student, is working on “The Inverse Kinematics and Singularity Avoidance of Space Station Manipulator”.

[7] Bin Chen, Male, 2011-2013, Bachelor Degree from Qingdao Technological University, Master student, is working on “Video-based Human Behavior Recognition”.
Grade 2010
[1] Chengjiang Wang, Male, 2010-2012, Bachelor Degree from Changchun University of Science and Technology, Master Graduate, worked on KINEMATICS OF A 7-DOF SPACE MANIPULATOR WITH ELBOW OFFSET.

[2] Qiang Xue, Male, 2010-2012, Bachelor Degree from Huaqiao University, Master Graduate, worked on RESEARCH ON POSE MEASUREMENT METHOD OF GEO NON-COOPERATIVE TARGET USING BINOCULAR STEREO CAMERAS.

[3] Zhigang Mao, Male, 2010-2012, Bachelor Degree from North China University of Water Resources and Electric Power, Master Graduate, worked on RIGID-FLEXIBLE COUPLING DYNAMICS AND CONTROL OF FLEXIBLE SPACE MANIPULATOR.

[4] Ran An, Male, 2010-2012, Bachelor Degree from Harbin University of Science and Technology, Master Graduate, worked on SENSORLESS BLDC MOTOR CONTROL SYSTEM BASED ON dsPIC MCU.

[5] Weihua Liu, Male, 2010-2012, Bachelor Degree from Shijiazhuang Railway Institute, Master Graduate, worked on GAIT PLANNING METHED FOR HEXAPOD ROBOT BASED ON CPG RHYTHM GENERATOR NETWORK.
Updated:2018-12