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朱雅光
性      别： 男 职      称： 副教授
籍      贯： 现 居 地：
毕业院校： 浙江大学 专      业：
出生年月： 1986-07-23 工作单位： 长安大学工程机械学院
邮       箱： 联系电话：
学       历： 博士

【人物简介】

长安大学工程机械学院，副教授，硕士生导师，博士后，国家自然科学基金评议人，陕西戴爱盟德电子科技有限公司技术顾问。2005年9月至2009年6月在山东大学机械工程学院机械设计制造及其自动化专业学习，获学士学位；2009年9月至2014年6月在浙江大学机械学院机械电子工程专业直接攻博，获工学博士学位。先后主持国家自然科学基金、陕西省自然科学基金、中国博士后基金和横向课题等项目10项；参与国家科技支撑计划、国家自然科学基金创新研究群体科学基金项目、浙江省重点科技创新团队计划资助项目及其他项目12项。发表学术论文20余篇，其中sci检索9篇、ei检索6篇，授权专利11项，其中发明专利4项。

【研究方向】

1.工程机器人：大型仿生机器人、工业机器人、大型特种机器人 2.智能控制技术：模糊控制、自适应控制等等 3.机器人导航与模式识别：路径规划、图像处理、信息融合 4.机电系统开发与信号分析：机电系统、传感器系统、信号采集与处理 5.嵌入式系统开发与系统集成：arm、dsp、fpga、linux、ros等系统移植与开发

【研究成果】

近年来，在科学研究方面取得的研究成果主要包括: 1.深入探索了六足机器人多步足跳跃和缓冲动力学，建立了六足机器人多向多姿态跳跃理论基础，极大的扩展了该类机器人的行为能力； 2.创新性的设计建立了具有集成感知关节的四足机器人，与同等质量机器人相比具有更快的速度和更低的能耗，这一成果为赶超世界上同类型机器人提供米乐体育官方的技术支持，对于国内腿足式机器人发展具有重要意义； 3.创造性的设计建立了多自由度爬管机器人实现大型钢管内外壁螺旋焊缝同时修磨技术，国内暂无同类设备，较国外类似设备具有极大的成本优势，具有较高的经济价值和社会价值。

【科研项目】

主持： [9]国家自然科学基金：基于跳蛛行为机理的六足机器人多步足全向跳跃控制研究，20万，2017.1-2019.12 . [8]中国博士后科学基金项目：基于生物行为机理的六足机器人动力学研究，5万，2016.6-2017.12. [7]陕西省自然科学基金项目：基于多源信息融合的多足机器人仿生控制研究，3万，2016.1-2017.12. [6]陕西省博士后科研项目：高性能多足机器人关键技术研究，4万，2016.12-2017.12.31. [5]流体动力与机电系统国家重点实验室开放基金：仿生机器人行为策略和神经控制，8万，2017.1-2018.12. [4]西安市科技项目：高机动性腿足式消防搜救机器人，5万，2017.1-2018.12. [3]中央高校科研项目：基于仿生多目协作机制的移动机器人障碍物检测研究，5万，2015.1-2016.12. [2]校企合作：全自主四足步行机器人关键技术研究，60万，2016.9-2018.5. [1]校企合作：高精度多自由度焊缝修磨机器人研究，80万，2017.4-2018.12. 参与： [8]陕西省科技统筹创新工程计划，2017.1-2018.12. [7]国家科技支撑计划,2015.1-2017.12. [6]长安大学科技创新团队培育项目，2015.1-2017.12. [5]国家自然科学基金创新研究群体科学基金项目，2012.1-2014.6. [4]浙江省重点科技创新团队计划资助，2010.1-2012.12 [3]校企合作：基于arm的数字式电液比例阀放大器研究，2010.1-2012.1. [2]校企合作：基于arm-fpga的锯床控制器研究，2011.1-2011.12. [1]校企合作：橡塑机械人机交互系统研究与开发，2010.1-2010.12.

【论文著作】

[18]a study of arbitrary gait pattern generation for turning of a bio-inspired hexapod robot, robotics and autonomous systems. 97c: 125-135, 2017. [17]trajectory correction and locomotion analysis of a hexapod walking robot with semi-round rigid feet, sensors. 16(9):1392, 2016. [16]compliance control of a legged robot based on improved adaptive control: method and experiments, international journal of robotics and automation. 31(5): 366-373, 2016. [15]analysis and modeling of a proportional directional valve with nonlinear solenoid, journal of the brazilian society of mechanical and engineering. 38(2):507–514, 2016. [14]leg compliance control of a hexapod robot based on improved adaptive control in different environments [j] journal of central south university. 22(3): 904-913, 2015. [13]optimal design of a hexapod walking robot based on energy consumption and workspace, transactions of the canadian society for mechanical engineering. 38(3): 305-317, 2014. [12]a differential control method for the proportional directional valve, journal of zhejiang university-science c (computers & electronics). 15(10): 892-902, 2014. [11]a quality evaluation model of reuse parts and its management system development for end-of-life wheel loaders, journal of cleaner production, 35:239-249, 2012. [10]a simple outdoor environment obstacle detection method based on information fusion of depth and infrared, journal of robotics, vol. 2016, id 2379685. [9]galloping trajectory generation of a legged transport robot based on energy consumption optimization, journal of robotics, vol. 2016, id 9645730. [8]optimal design of a hexapod robot leg structure based on target workspace, journal of zhejiang university (engineering science), 48(5): 770-776, 2014. [7]leg compliance control of hexapod robot based on adaptive-fuzzy control, journal of zhejiang university (engineering science), 48 (8): 1419-1427, 2014. [6]the master manipulator control system in a master-slave robot based on trinocular stereo vision, international journal of control and automation, 9(4), 367-380, 2016. [5]pid parameters tuning of proportional directional valve based on multiple orthogonal experiments method: method and experiments, 2013 2nd international conference on manufacturing engineering and process, icmep 2013, 1166-1169, vancouver, bc, canada, 2013. [4]development and test of leg compliant control platform system forfoot type transport robot based on arm, journal of machine design, 2016, 7. [3]metal band sawing machine control system based on arm and cpld, mechanical and electrical engineering magazine, 2015, 32(12): 1616-1619. [2]evaluation method of repeatable utilization for parts and components of loaders, construction machinery & equipment, 2010, 41(4):28-31. [1]design and development of management system of recycle and reuse of machine elements, tool engineering, 2010(6):48-50.

与ta有关的专家
姓名：
贺拴海
工作职务：
研究方向：
桥梁结构及结构分析理论;桥梁安全评价及可靠度;桥梁损伤评估及耐久性;桥梁加固理论及方法。
毕业学院：
浙江大学
姓名：
徐春兰
工作职务：
研究方向：
目前开展的研究工作主要集中在以下几方面：1）动物生物活性小肽的构效关系及作用机理研究；2）多功能靶向抗肿瘤药物的研究；3）特殊条件下动物免疫状况与营养调控。
毕业学院：
浙江大学
姓名：
赵珂
工作职务：
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freemarker.core.iteratorblock$iterationcontext.executenestedcontent(iteratorblock.java:263) at freemarker.core.iteratorblock$iterationcontext.accept(iteratorblock.java:200) at freemarker.core.environment.visititeratorblock(environment.java:595) at freemarker.core.iteratorblock.acceptwithresult(iteratorblock.java:81) at freemarker.core.iteratorblock.accept(iteratorblock.java:67) at freemarker.core.environment.visit(environment.java:326) at freemarker.core.environment.visit(environment.java:332) at freemarker.core.environment.process(environment.java:305) at freemarker.template.template.process(template.java:384) at com.xatrm.common.web.springmvc.simplefreemarkerview.rendermergedtemplatemodel(simplefreemarkerview.java:114) at org.springframework.web.servlet.view.abstracttemplateview.rendermergedoutputmodel(abstracttemplateview.java:167) at org.springframework.web.servlet.view.abstractview.render(abstractview.java:303) at org.springframework.web.servlet.dispatcherservlet.render(dispatcherservlet.java:1257) at org.springframework.web.servlet.dispatcherservlet.processdispatchresult(dispatcherservlet.java:1037) at org.springframework.web.servlet.dispatcherservlet.dodispatch(dispatcherservlet.java:980) at org.springframework.web.servlet.dispatcherservlet.doservice(dispatcherservlet.java:897) at org.springframework.web.servlet.frameworkservlet.processrequest(frameworkservlet.java:970) at org.springframework.web.servlet.frameworkservlet.doget(frameworkservlet.java:861) at javax.servlet.http.httpservlet.service(httpservlet.java:622) at org.springframework.web.servlet.frameworkservlet.service(frameworkservlet.java:846) at javax.servlet.http.httpservlet.service(httpservlet.java:729) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:230) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at org.apache.tomcat.websocket.server.wsfilter.dofilter(wsfilter.java:52) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at org.jasig.cas.client.session.singlesignoutfilter.dofilter(singlesignoutfilter.java:76) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at ci.filter.sqlinjectfilter.dofilter(sqlinjectfilter.java:157) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at ci.filter.xssfilter.dofilter(xssfilter.java:96) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at ci.filter.securityfilter.dofilter(securityfilter.java:25) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at com.xatrm.common.web.xssfilter.dofilter(xssfilter.java:40) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at org.apache.shiro.web.servlet.abstractshirofilter.executechain(abstractshirofilter.java:449) at org.apache.shiro.web.servlet.abstractshirofilter$1.call(abstractshirofilter.java:365) at org.apache.shiro.subject.support.subjectcallable.docall(subjectcallable.java:90) at org.apache.shiro.subject.support.subjectcallable.call(subjectcallable.java:83) at org.apache.shiro.subject.support.delegatingsubject.execute(delegatingsubject.java:383) at org.apache.shiro.web.servlet.abstractshirofilter.dofilterinternal(abstractshirofilter.java:362) at org.apache.shiro.web.servlet.onceperrequestfilter.dofilter(onceperrequestfilter.java:125) at org.springframework.web.filter.delegatingfilterproxy.invokedelegate(delegatingfilterproxy.java:346) at org.springframework.web.filter.delegatingfilterproxy.dofilter(delegatingfilterproxy.java:262) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at org.springframework.orm.hibernate4.support.opensessioninviewfilter.dofilterinternal(opensessioninviewfilter.java:151) at org.springframework.web.filter.onceperrequestfilter.dofilter(onceperrequestfilter.java:107) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at org.springframework.web.filter.characterencodingfilter.dofilterinternal(characterencodingfilter.java:197) at org.springframework.web.filter.onceperrequestfilter.dofilter(onceperrequestfilter.java:107) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at com.xatrm.common.web.processtimefilter.dofilter(processtimefilter.java:35) at org.apache.catalina.core.applicationfilterchain.internaldofilter(applicationfilterchain.java:192) at org.apache.catalina.core.applicationfilterchain.dofilter(applicationfilterchain.java:165) at org.apache.catalina.core.standardwrappervalve.invoke(standardwrappervalve.java:198) at org.apache.catalina.core.standardcontextvalve.invoke(standardcontextvalve.java:108) at org.apache.catalina.authenticator.authenticatorbase.invoke(authenticatorbase.java:472) at org.apache.catalina.core.standardhostvalve.invoke(standardhostvalve.java:140) at org.apache.catalina.valves.errorreportvalve.invoke(errorreportvalve.java:79) at org.apache.catalina.valves.abstractaccesslogvalve.invoke(abstractaccesslogvalve.java:620) at org.apache.catalina.core.standardenginevalve.invoke(standardenginevalve.java:87) at org.apache.catalina.connector.coyoteadapter.service(coyoteadapter.java:349) at org.apache.coyote.http11.http11processor.service(http11processor.java:783) at org.apache.coyote.abstractprocessorlight.process(abstractprocessorlight.java:66) at org.apache.coyote.abstractprotocol$connectionhandler.process(abstractprotocol.java:789) at org.apache.tomcat.util.net.nioendpoint$socketprocessor.dorun(nioendpoint.java:1455) at org.apache.tomcat.util.net.socketprocessorbase.run(socketprocessorbase.java:49) at java.util.concurrent.threadpoolexecutor.runworker(threadpoolexecutor.java:1142) at java.util.concurrent.threadpoolexecutor$worker.run(threadpoolexecutor.java:617) at org.apache.tomcat.util.threads.taskthread$wrappingrunnable.run(taskthread.java:61) at java.lang.thread.run(thread.java:745)
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