科研项目、成果、获奖、专利

科研项目、成果、专利

1）手术辅助与康复机器人方向

- 国家重点研发计划智能机器人专项，项目：微创全膝关节置换手术机器人技术与系统，课题：个性化术前规划与术后评估系统，135万元，2017.12-2020.11，课题负责。

- 国家重点研发计划智能机器人专项，项目：面向脊柱椎板切除手术的机器人系统，课题：术前手术规划与术中主动导航系统，276万元，2019.06-2022.05，课题负责。

- 国家重点研发计划智能机器人专项，项目：下肢骨折精准复位手术与量化康复一体化机器人系统”，课题：基于骨愈合机理的主被动融合量化康复，240万元，2019.06-2022.05，课题负责。

- 国家重点研发计划智能机器人专项，项目：人工耳蜗微创植入机器人系统，课题：基于多源信息融合的手术规划导航与虚拟手术研究，159万元，2019.12-2022.11，课题负责。

- 国家自然科学基金深圳联合基金重点项目，脑肢协同多模态干预的脑卒中专科型手部康复机器人，320万元，2020.01-2023.12，项目负责。

2）移动机器人自主行为控制方向

- 国家自然科学基金共融机器人重大科学计划重点项目，“多无人机以及人-多机协调合作方法研究与验证”，300万元，2019.01-2022.12，项目负责。

- 国家重点研发计划智能机器人专项，项目：高海拔环境科考站辅助值守机器人，课题：面向高海拔科考环境的机器人移动与作业技术研究，334万元，2019.06-2022.05，课题负责。

- 人工智能重大专项，项目：自主智能体灵巧精准操作学习方法研究与验证，课题：复杂装配灵巧操作的自主学习与精准控制，139.5万元，2020.01-2023.12，任务负责。

撰写论文、专著、教材等

专著：

韩建达、何玉庆、赵新刚，“移动机器人系统：建模、估计与控制”，科学出版社，ISBN 978-7-03-031280-8，字数：456000，2011。

部分期刊论文：

[2021-1] Ziyou Li, Xingang Zhao, Guangjun Liu, BiZhang, Daohui Zhang, Jianda Han, “Electrode Shifts Estimation and AdaptiveCorrection for Improving Robustness of sEMG-Based Recognition,” IEEE Journal ofBiomedical and Health Informatics, Volume: 25, Issue: 4, 2021.

[2020-1] Kui Yi, Jianda Han, Xiao Liang, Yuqing He, “Contacttransition control with acceleration feedback enhancement for a quadrotor,” ISATransactions, Volume 109, 2020.

[2020-2] Xiangyu Wang, Dongyang Bie, Jianda Han, YongchunFang, “Active Modeling and Compensation for the Hysteresis of a RoboticFlexible Ureteroscopy,” IEEE Access, Volume: 8, 2020.

[2019-1] Kui Yi, Xiao Liang, Yuqing He, Liying Yang,Jianda Han, “Active Model-Based Control for the Quadrotor Carrying a ChangedSlung Load,” Electronics, 2019.

[2019-2] Yanming Hu, Decai Li, Yuqing He, Jianda Han,“Incremental Learning Framework for Autonomous Robots based on Q-learning andthe Adaptive Kernel Linear Model,” IEEE Transactions on Cognitive andDevelopmental Systems, Early Access Article, 2019.

[2019-3] Qichuan Ding, Xingang Zhao, Jianda Han, ChunguangBu, Chengdong Wu, “Adaptive Hybrid Classifier for Myoelectric PatternRecognition Against the Interferences of Outlier Motion, Muscle Fatigue, andElectrode Doffing,” IEEE Transactions on Neural Systems and RehabilitationEngineering, Volume: 27, Issue: 5, 2019.

[2019-4]- ZhongLiu, Didier Theilliol, Liying Yang, Yuqing He, Jianda Han, “Observer-basedlinear parameter varying control design with unmeasurable varying parametersunder sensor faults for quad-tilt rotor unmanned aerial vehicle,” AerospaceScience and Technology, Volume 92, 2019.

[2017-1] Jianda Han, Junfeng Xiong, Yuqing He, Feng Gu, Decai Li, Nonlinear Modeling for a Water-Jet Propulsion USV: An Experimental Study, IEEE Transactions on Industrial Electronics, Volume: 64, Issue: 4, Pages: 3348 - 3358, 2017.

[2017-2] Qichuan Ding, Jianda Han, Xingang Zhao, Continuous Estimation of Human Multi-Joint Angles From sEMG Using a State-Space Model, IEEE Transactions on Neural Systems and Rehabilitation Engineering, Volume: 25, Issue: 9, Pages: 1518 - 1528, 2017.

[2017-3] Daohui Zhang, Xingang Zhao, Jianda Han, Active Model-Based Control for Pneumatic Artificial Muscle, IEEE Transactions on Industrial Electronics, Volume: 64, Issue: 2, Pages: 1686 - 1695, 2017.

[2016-1] Xingang Zhao, Yaqi Chu, Jianda Han, Zhiqiang Zhang, SSVEP-Based Brain–Computer Interface Controlled Functional Electrical Stimulation System for Upper Extremity Rehabilitation, IEEE Transactions on Systems, Man, and Cybernetics: Systems, Volume: 46, Issue: 7, Pages: 947 - 956, 2016.

[2016-2] Jianda Han, Peng Yin, Yuqing He, Feng Gu, Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study, Sensors, 16(2), 228, 2016.

[2016-3] J.T. Qi, D.L. Song, H. Shang, N.F. Wang, C.S. Hua, C. Wu, X. Qi, J.D. Han, Search and Rescue Rotary-Wing UAV and Its Application to the Lushan Ms 7.0 Earthquake, Journal of Field Robotics, 33 (2016) 290-321.

[2015-1] Jianda Han, Qichuan Ding, Anbin Xiong, Xingang Zhao, A State-Space EMG Model for the Estimation of Continuous Joint Movements, IEEE Transactions on Industrial Electronics, Volume: 62, Issue: 7, Pages: 4267 - 4275, 2015.

[2015-2] Jianda Han, Zhiqiang Zhu, Yuqing He, Juntong Qi, “A novel input shaping method based on system output, Journal of Sound and Vibration,” 335, 338-349, 2015.

[2015-3] Ding Qichuan, Han Jianda, “Missing-data Classification with the Extended Full- dimensional Gaussian Mixture Model: Applications to EMG-Based Motion Recognition,” IEEE Transactions on Industrial Electronics, Volume:62, Issue:8, Page(s):4994-5005, 2015.

[2015-4] Feng Gu, Yuqing He, and Jianda Han, “Active Persistent Localization of a Three-Dimensional Moving Target Under Set-Membership Uncertainty Description Through Cooperation of Multiple Mobile Robots,” IEEE Transactions on Industrial Electronics, Volume:62, Issue:8, Pages:4958 - 4971, 2015.

[2015-5] J.D. Han, A.B. Xiong, X.G. Zhao, Q.C. Ding, Y.G. Chen, G.J. Liu, “sEMG based quantitative assessment of acupuncture on Bell's palsy: an experimental study,” Science China-Information Sciences, 58 (2015).

[2015-6] Yuqing He, Cheng Chen, Chunguang Bu and Jianda Han, A Polar Rover for Large-scale Scientific Surveys: Design, Implementation and Field Test Results, International Journal of Advanced Robotic Systems, 12:145, 2015.

荣誉奖项

获国家及省部级科研奖励

1）“南极科考冰雪面移动与低空飞行机器人技术及应用”，中国自动化学会技术发明一等奖，2020年，排名第一。

2）“电力系统在线监测、智能巡检与机器人化作业装备”，中国科学院科技促进发展二等奖，2015年，排名第一。

3）“小型无人直升机自主飞行控制系统”，中国专利优秀奖，2013年，排名第一。

4）“无人直升机输电线路自动巡检与架设系统”，辽宁省科技进步一等奖，2012年，排名第一。

5）“系列化反恐防暴机器人开发与应用”，国家科技进步二等奖，2010年。

入选国家级人才计划

1）2013年入选“万人计划”科技创新领军人才

2）2012年入选科技部创新人才推进计划中青年科技创新领军人才

3）2011年入选国务院政府特殊津贴专家

社会兼职

中国自动化学会机器人专业委员会副主任委员

《机器人》期刊副主编