MAE - Professor LIU Yun-hui

Professor

Professor LIU Yun-hui

BEng, Beijing Institute of Technology
MEng, Osaka University
PhD, University of Tokyo
Fellow of IEEE

*Visual Servoing, Medical Robots, Internet Robotics, Active Sensor Networks, Multi-fingered Grasping, Education Robotics.

Tel: (852) 2609-8340
E-mail: yhliu@mae.cuhk.edu.hk

Yunhui Liu received his B. Eng. degree in Applied Dynamics from Beijing Institute of Technology, China in 1985, his M. Eng. degree in Mechanical Engineering from Osaka University in 1989, and his Ph.D in Mathematical Engineering and Information Physics from the University of Tokyo, Japan in 1992. After completing his PhD study, he worked at the Electrotechnical Laboratory, MITI, Japan as a Research Scientist and took part in several Japanese national projects at large on intelligent robots and machine learning. He has been with Dept. of Automation and Computer Aided Engineering, The Chinese University of Hong Kong since 1995 and is currently a Professor. Prof. Liu is the director of the Networked Sensors and Robotics Laboratory, which was established by him in 1995. He is a Visiting Professor of Shenyang Institute of Automation, Chinese Academy of Science; a ChangJiang Professor of the National University of Defense Technology (NUDT), and a Visiting Professor at Beijing Institute of Technology. He the director of the Centre for Robotics and Technology Education of Faculty of Engineering and the director of the Joint Center for Intelligent Sensing and Systems of CUHK and NUDT. His research interests include visual servoing of dynamic systems, medical robotics, internet robotics, education robotics, multi-fingered grapsing, and active sensor networks. Prof. Liu has published over 100 papers in refereed professional journals and international conference proceedings. He received the 1994 and 1998 Best Journal Paper Awards from the Robotics Society of Japan, and the Best Paper Awards in the first and third IEEE Electro/Information Technology Conference. His students have received many best student papers award or nomination awards from the major international conferences in robotics and automation. The students supervised by him have become faculty members of universities in USA, Canada, Hong Kong and the mainland China.

He was an Associate Editor of IEEE Transactions on Robotics and Automation and is currently an editor of Advanced Robotics. He was a Guest Editor of Robotics and Autonomous Systems and on the editoral board of Transactions of the Society of Instrument and Control Engineers (SICE). Prof. Liu is actively involving in organization of international conferences. He was the General Chairs of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008 IEEE International Conference on Information and Automation. He is the General Chairs of 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO) and 2014 IEEE International Conference on Robotics and Automation (ICRA). He also served other international conferences like ICMA, AIM, etc as award chairs and other major organizers.

Prof. Liu is a Fellow of IEEE and was members of the Robotics Society of Japan and of the Society of Instrument and Control Engineers.

Major Research Grants (last five years)

(1)      Awarded HK$1,750,000 QEF (Quality Education Fund) grant as the Principal Investigator for the project “Internet-based education for design and innovation”, 2009.

(2)      Awarded HK$2,999,996 ITF (Innovation and Technology Fund) grant as the Principal Investigator for the project: “Internet Robotics Innovation Park”, 2007.

(3)      Awarded HK$1,086,040 RGC (Research Grants Council) grant as the Principal Investigator for the project: “Vision-based flying control of small autonomous helicopters”, 2007/2008.

(4)      Awarded HK$556,500 RGC grant as the Principal Investigator for the project: “Dynamic tracking of objects in 3-D general motion using a robotic hand-eye system” , 2006/2007.

(5)      Awarded HK$2,000,000 QEF (Quality Education Fund) grant as the Principal Investigator for the project: “Innovation technology education via internet-based robotics competitions”, 2006.

(6)      Awarded HK$359,224 RGC grant as the Principal Investigator for the project: “Modeling and control of mobile robots for active sensor networks”, 2005/2006.

(7)      Awarded HK$506,447 RGC grant as the Principal Investigator for the project: “3D stereoscopic augmented reality system for nano-manipulation and nano-experimentation using AFM”, 2004/2005.

Selected Publications

H. Wang, Y. H. Liu, and D. Zhou, Adaptive Visual Servoing Using Point and Line Features with an Uncalibrated Eye-in-hand Camera, IEEE Trans. on Robotics, vol. 24, no. 4, pp. 843-857, 2008.

M. Li and Y. H. Liu, Dynamic modeling and experimental validation for interactive endodontic simulation, IEEE Trans. on Robotics, vol. 23, no. 3, pp. 443-458, 2007.

H. Wang, Y. H. Liu and D. Zhou, Dynamic visual tracking for manipulators using an uncalibrated fixed camera, IEEE Trans. on Robotics, vol. 23, no. 3, pp. 610-617, 2007.

Y. H. Liu, H. Wang, C. Wang and K. K. Lam, Uncalibrated visual servoing of robots using a depth-independent interaction matrix, IEEE Trans. on Robotics, vol. 22, no. 4, pp. 804-817, 2006.

T. Chen and Y. H. Liu, A robust approach for structure from planar motion by stereo image sequence, Machine Vision and Applications, vol. 3, no. 3, pp. 197-209, 2006.

Y. H. Liu, M. L. Lam and D. Ding, A complete and efficient algorithm for searching for 3-D form-closure grasps in discrete domain, IEEE Trans. on Robotics, vol. 20, no. 5, pp. 805-816, October, 2004.

W. T. Lo, Y. H. Liu, N. Xi, Y. Wang, and T. Fukuda, Cooperative teleoperation of multi-robot systems with force reflection via the Internet, IEEE/ASME Trans. on Mechatronics, vol. 9, no. 4, pp. 661-669, 2004.

V. Parra-Vega, S. Arimoto, Y. H. Liu, G. Hirzinger and P. Akella, Dynamic sliding PID control for tracking of robot manipulators: theory and experiments, IEEE Trans. on Robotics and Automation, vol. 19, no. 6, pp. 967-976, 2003.

B. Xu, and Y. H. Liu, Delay-dependent/delay-independent stability of linear systems with multiple time-varying delays, IEEE Trans. on Automatic Control, vol. 19, no. 6, pp. 967-976, 2003.

W. K. Fung and Y. H. Liu, Adaptive categorization of ART networks in robot behavior learning using game-theoretic formulation, Neural Networks, vol. 16, no. 10, pp. 1403-1420, 2003.

Y. Shen, D. Sun, Y. H. Liu, and K. Li, Asymptotic trajectory tracking of manipulators using uncalibrated visual feedback, IEEE/ASME Trans. on Mechatronics, vol. 8, no. 1, pp. 87-98, 2003.

I. Ehajj, N. Xi, W. K. Fung, Y. H. Liu, Y. Hasegawa, T. Fukuda, Supermedia enhanced internet based telerobotics, IEEE Proceedings: special issue on networked intelligent robots through the internet, vol. 91, no. 3, pp. 396-421, 2003.

I. Elhajj, N. Xi, W. K. Fung, Y. H. Liu, W. J. Li, T. Kaga, and T. Fukuda, Haptic information in Internet-based teleoperation, IEEE/ASME Trans. on Mechatronics, vol. 6, no. 3, pp. 295-304, 2001.

D. Ding, Y. H. Liu, M. Y. Wang, and S. Wang, "Automatic selection of fixturing surfaces and fixturing points for polyhedral workpieces," IEEE Trans. on Robotics and Automation, vol. 17, no. 6, pp. 833-841, 2001.

D. Ding, Y. H. Liu, and S. Wang, "Computation of 3D form-closure grasps," IEEE Trans. on Robotics and Automation, vol. 17, no. 4, pp. 515-521, 2001.

Y. H. Liu, "Computing n-finger form-closure grasp on polygonal objects," Int. Journal of Robotics Research, vol. 18, no. 2, pp. 149-158, 2000.

Y. H. Liu and D. Sun, "Stabliziing a flexible beam handled by two manipulators via PD feedback," IEEE Transactions on Automatic Control, vol. 45, no. 11, pp. 2159-2164, 2000.

Y. H. Liu, Y. S. Xu, and M. Bergerman, "Cooperation control of multiple manipulators with passive joints," IEEE Transactions on Robotics and Automation, vol. 15, no. 2, pp. 258-263, 1999.

Y. H. Liu, "Qualitative test and force optimization of 3D frictional form-closure grasps using linear programming," IEEE Transactions on Robotics and Automation, vol. 15. no.1, pp. 163-173, 1999.

Y. H. Liu, K. Kitagaki, T. Ogasawara and S. Arimoto, "Model-based adaptive hybrid control of manipulators under multiple goemetric constraints," IEEE Transactions on Control Systems Technology, vol. 7, no. 1, pp. 97-109, 1999.

D. Sun and Y. H. Liu, "Modeling and impedance control of a two-manipulator system handling a flexible beam," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 119, no. 4, pp. 736-742, 1997.

D. Sun, Z. Zhou, Y. H. Liu, and W. Shen, "Development and application of ultrasonic surgical instruments," IEEE Transactions on Biomedical Engineering, vol. 44, no. 6, pp. 462-467, 1997.

Y. H. Liu and S. Arimoto, "Distributively controlling two robots handling an object in the task space without any communication," IEEE Transactions on Automatic Control, vol. 41, no. 8, pp. 1193-1198, 1996.

Y. H. Liu and S. Arimoto, "Finding the shortest paths of discs among polygonal obstacles using a radius-independent graph," IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 682-691, 1995.

Y. H. Liu and S. Arimoto, "Computation of tangent graph of polygonal obstacles by moving-line processing," IEEE Transactions on Robotics and Automation, vol.9, no. 6, pp. 823-830, 1994.

Last Modified
Date: 12/1/09 (Saturday) Time: 17:30:00