Jiaming, Qi (齐佳明)
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Ph.D. Candidate, |
About me
Jiaming Qi received the B.S. degree from the Northeast Agricultural University, in 2016, and the M.S. degree from
Harbin Institute of Technology, in 2018.
In 2019, he was a visiting PhD student in Robotics and Machine Intelligence Laboratory at
The Hong Kong Polytechnic University.
He is currently a fourth-year Ph.D candidate majoring in Control Science and Engineering within Harbin Institute of Technology under the supervision
from Prof. Guangfu Ma.
His research interests include deformable objects manipulation, human-robot interaction, visual servoing, shape servoing, deep learning, and adaptive control.
He also researches computer vision, e.g., shape perception, estimation and reconstruction of deformable objects and shape-data compression.
He focus on using control theory combined with neural network to solve practical problems in the field of robotics.
For detailed CV, please click [here].
Education
Ph.D., Control Science and Engineering, Harbin Institute of Technology, 09.2018-Present
Research Direction: Deformable Objects Manipulation
Main Content: Soft Objects Modeling, Pointcloud/Image Processing, Machine/Deep Learning, Model-free Control, Optimization Control, and Velocity Control
Supervisor: Prof. Guangfu Ma
Visiting PhD Student, Robotics and Machine Intelligence Laboratory, The Hong Kong Polytechnic University, 09.2019-03.2020
Vision-based shape control of deformable objects
Learning-based feature extraction of deformable objects
Data-driven sensorimotor models for autonomous robots
Pointcloud processing, data-compression, and shape-reconstruction
Supervisor: Dr David Navarro-Alarcon
M.E., Integrated Circuit Engineering, Harbin Institute of Technology, 09.2016-06.2018
GPA: 3.68/4, Rank: 2/111
Main Courses: Numerical Analysis, Matrix Analysis, Machine Learning, Variable Structure Control, System Identification and Neural Networks, Digital Image Processing, Pattern Recognition, Artificial Intelligent: Theory and Application
B.E., Agricultural Electrification and Automation, Northeast Agricultural University, 09.2012-06.2016
GPA: 3.87/4, Rank: 3/152
Main Courses: Automatic Control Theory, Visual Basic, C Programming, Substation Engineering Design, Electromagnetic Field, Power Electronics, Electric Drag and Electrical Control, Embedded Systems, Digital Electronics, Analog Electronics, Computer Network and Communication, Computer Control System
Research
Interest
Human-robot Collaborative Interaction Deformable Objects Manipulation
Shape Servoing
Visual Servoing
Machine/Deep Learning
Adaptive Control
Computer Vision
Current work
Human-robot Collaborative Interaction Deformable Objects Manipulation
Shape Perception, Estimation and Reconstruction of Deformable Objects
Learning-based Deformable Objects Manipulation
Model-free Adaptive Control for the Deformable Objects Manipulation
Model-free Visual-servoing of 6-DOF Robot Manipulator
Recent publications
Preprints
J. Qi, W. Ma, G. Ma, H. Gao, and D. Navarro-Alarcon*, "Adaptive Shape Servoing of Elastic Rods using Parameterized Regression Features and Auto-Tuning Motion Controls", Awaiting Final Decision. [pdf] [video]
J. Qi, D. Li, Y. Gao, P. Zhou, G. Ma, D. Navarro-Alarcon*, "Model Predictive Manipulation of Compliant Objects with Multi-Objective Optimizer and Adversarial Network for Occlusion Compensation", First Decision Revising . [pdf] [video]
Journal Articles
J. Qi, G. Ma, J. Zhu, P. Zhou, Y. Lyu, H. Zhang, D. Navarro-Alarcon*, "Contour Moments Based Manipulation of Composite Rigid-Deformable Objects With Finite Time Model Estimation and Shape/Position Control", IEEE/ASME Transactions on Mechatronics, 2021. (IF = 5.303). [pdf] [video]
J. Qi, G. Ma, P. Zhou, H. Zhang, Y. Lyu, D. Navarro-Alarcon*, "Towards latent space based manipulation of elastic rods using autoencoder models and robust centerline extractions", Advanced Robotics, 36 (3), 101-115, 2022. (IF = 1.699). [pdf] [video]
S. Zou, Y Lyu, J. Qi, G. Ma, Y. Guo, "A deep neural network approach for accurate 3D shape estimation of soft manipulator with vision correction", Sensors and Actuators A: Physical, 2022. (IF = 4.291). [pdf]
D. Navarro-Alarcon*, J. Qi, J. Zhu, A. Cherubini, "A Lyapunov-stable adaptive method to approximate sensorimotor models for sensor-based control", Frontiers in Neurorobotics, 2020. (IF = 2.650). [pdf] [video1] [video2]
Conference Proceedings
G. Ma, J. Qi, Y. Lyu, H. Zeng, "Active Manipulation of Elastic Rods using Optimization-based Shape Perception and Sensorimotor Model Approximation", Chinese Control Conference (CCC 2022), (Supervisor, First Author), 2022. [pdf]
H. Z, Z. Lu, Y. Lyu, J. Qi, "Adaptive Neural Network-based Visual Servoing with Integral Sliding Mode Control for Manipulator", Chinese Control Conference (CCC 2022), 2022. [pdf]
W. Ma, J. Qi, D. Navarro-Alarcon, "Automatic Shape Control of Deformable Rods Based on Data-Driven Implicit Sensorimotor Models", International Conference on Intelligent Robots and Systems (IROS), 2020. [pdf]
J. Qi, Y. Lv, D. Gao, Z. Zhang, C. Li, "Trajectory Tracking Strategy of Quadrotor with Output Delay", International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC), 2018. [pdf]
Note: * indicates the corresponding author.
Full list of publications in Google Scholar.
Academic service
Reviewer
Robotics and Automation Letters
IEEE International Conference on Robotics and Automation
IEEE International Conference on Advanced Robotics and Mechatronics
Projects
Deformable Objects Manipulation, 09.2019-Present
Physical modeling of deformable objects (kinematics, dynamics)
Shape perception, estimation, and reconstruction of the deformable objects
Cybernetics-based solutions for the deformable objects manipulation
Learning-based solutions for the deformable objects manipulation
Multi-sensor Fusion Hardware-in-the-loop Simulation System, 07.2018-08.2019
Establish multi-sensor (earth sensor, sun sensor, gyroscope) model and actuator dynamic model, and perform simulation verification in Matlab/Simulink
Realize the four-layer STM32F4-PCB with C language
Realize a C# host platform for data exchanging, processing, and command control
Realize a physical joint verification (Matlab, C#, STM32F4), and write the reliability analysis report
Lithium Battery Impedance Test Platform Implementation and Design, 05.2017-05.2018
Build the lithium battery impedance model,and the quantitative relationship among impedance, temp, humidity, SOC, etc.
Realize a hardware system including AD5940, and a single-chip microcomputer (ADuCM360/361) with C language
Realize a human-computer C# host platform with SPI,I2C and UART communication
Realize amplitude/phase calibration, data reception, processing, real-time display, and stability analyse, e.g., Bode, Nyquist.
Quadrotor Aerial Vehicle Tracking Algorithm Design, 11.2016-05.2017
Realize the attitude solution (Quaternion, Euler angle), Kalman state estimation, and trajectory tracking
Realize a four-layer STM32F4-PCB onboard 10-axis IMU, which can output high-precision Euler angle
Realize UART, SPI, I2C communication, position and incremental PID control, FATFS external FLASH to save data
Realize a C# host control platform, and real-time display and process the data from GPS, UWB, US-100
Field Unattended Station Monitoring System Design, 01.2017-05.2017
Realize the linkage function of 8-way stepper motor, 18-way limit switch, 6-way relay and 1-way hydraulic lifting elevator
Realize the RS485 communication host computer control interface, control box operation mode switching, hangar operation status monitoring
Realize UART, SPI, I2C communication, and FATFS external FLASH for data saving and processing under emergency braking
Realize a C# host control platform, and real-time display the operation state of the field station
Water Quality Monitoring System Based on Modbus485, 09.2016-05.2017
Realize Modbus field bus communication protocol
Realize four-layer water-quality monitoring STM32F4-PCB, and build a mathematical model of water pollution
Realize GPS accurate field positioning and emergency diagnostics
Work experience
Application Engineer, Analog Devices, Inc., Beijing, China, 05.2017-05.2018
Li-ion Battery Online Impedance Detection System Design (Graduation Project)
ADuCM360/361 microcontroller integration with AD5941 portable application design
Li-ion battery impedance model establishment and online identification algorithm design
Li-ion battery C# evaluation platform (real-time data processing)
Li-ion battery operation state monitoring and balanced power analyses through CAN/UART/SPI communication protocol
Application Engineer, Analog Devices, Inc., Beijing, China, 03.2016-09.2016
ADuCM360-based Pressure Transmitter HART Communication System Design (Graduation Project)
ADuCM360/361 duplex-ADC Labview evaluation system design and user manual writing
AduCM360/361 Multiwire-RTD temperature measurement model establishment and Labview evaluation systems design
ADuCM360/361 14-bit PWM DAC circuit design and joint-KEYSIGHT 3458A-1/2 Labview visualization platform
ADuCM360/361 HoneyWell 24PCXXH6D high-precision pressure sensors system modeling, application and validation
Competitions and awards
The First Prize Scholarship*2 (master, 2017, 2018)
Outstanding Graduates Award in Heilongjiang Province (bachelor, 2016)
Comprehensive Quality First-class Scholarship*3 (bachelor, 2013, 2014, 2015)
Three-Good Student*3 (bachelor, 2013, 2014, 2015)
The Second Prize in Mathematical Modeling in Heilongjiang Province (bachelor, 2014)
Engineering Fund (Ph.D Candidate, 2018)