姓名： 马昕

性别： 女

民族： 汉族

学历： 博士

职称： 教授

导师信息：博士生导师

职务： 无

党派： 九三学社

学科一：控制科学与工程

学科二：模式识别与智能系统

个人主页：http://www.sucro.org/nd.jsp?id=79#_jcp=1

所在院系：山东大学控制科学与工程学院

研究方向：移动机器人；机器视觉；欠驱动控制

通信地址：济南市经十路17923号

山东大学控制科学与工程学院机器人研究中心

社会兼职与荣誉奖励：

IEEE机器人与自动化学会会员，山东省自动化学会会员；

中国自动化学会机器人专业委员会（第五届）委员；

IEEE Transactions on Cybernetics、IEEE Journal of Biomedical and Health Informatics、Applied Mathematical Modeling、Neural Processing Letters、International Journal of Advanced Robotic Systems、Mechanical Systems and Signal Processing、Nonlinear Dynamics, Journal of Experimental & Theoretical Artificial Intelligence、International Journal of Pattern Recognition and Artificial Intelligence、Journal of Vibration and Control、ACTA Automatica Sinica、自动化学报、控制理论与应用、机器人等国际和国内学术期刊审稿人。

目前在研的科研课题：

[1] “基于双模三维视觉传感器的服务机器人人机交互研究及应用“，国家重点研发计划课题，2019.05-2022.04，100万元，课题负责人

[2] “面向深海作业的自动起重装备基础理论与关键技术“，国家自然科学基金联合基金项目，2018.01-2021.12，280万元，项目负责人

[3]“人机结合复杂智能机器人系统分析与设计方法研究“，国家自然基金面上项目，2017.01-2020.12，62万元，第二位

已完成的科研课题：

[1]“仿生眼感知与识别处理关键技术研究“，国家863主题课题，2015.03-2018.03，285万元，负责人

[2]“面向复杂柔性装配任务的新一代工业机器人研发“，山东省科技重大专项（新兴产业），2015.04-2018.03，90万元，负责人

[3]“通用型移动作业双臂机器人产业化“，山东省自主创新及成果转化专项项目，2015.01-2017.12，100万元，负责人

[4]“新一代安全自动行吊视觉导航与定位系统“，山东省科技发展计划项目，2015.01-2016.12，25万元，负责人

[5]“基于动物视听觉信息学习机制的自主发育机器人“，山东大学交叉学科培育项目，2015.01-2017.12，35万元，负责人

[6]“基于移动智能的混合视觉传感器网络自定位和目标检测研究“，国家自然科学基金项目，2013.01-2013.12，负责人

[7]“群移动机器人系统自定位和目标识别研究“，山东省自然科学基金，2013.01-2013.12，负责人

[8]“液压驱动双足机器人关键技术研究“，山东大学自主创新基金“交叉学科培育基金”，2011.01-2013.12，负责人

[9]“移动机器人协同环境探索系统研究“，山东省博士后创新基金项目2010.01-2012.12，负责人

[10]“多移动机器人主动环境地图创建研究“，山东省自然科学基金项目2009.01-2011.12，负责人

[11]“移动机器人网络系统建模与控制方法研究“，山东省优秀中青年科学家科研奖励基金，2008.01-2010.12，负责人

[12]“面向CNGI的机器人教育软件平台研发“，山东省信息产业专项基金，2007.01-2009.12，负责人

[13]“多移动机器人协同环境探索系统研究“，山东省科技发展计划基金，2006.12-2008.12，负责人

[14]“多移动机器人协同环境探索策略研究及系统设计“，中国博士后科学基金，2007.01-2008.12，负责人

[15]“机器人协同进化方法及其应用研究“，教育部留学回国人员科研启动基金，2005.01-2007.12，负责人

[16]“基于粗集理论的环境建模技术及其在移动机器人的应用研究“，山东省优秀中青年科学家科研奖励基金，2005.01-2007.12，负责人

[17]“基于开放式结构的系列化教学机器人“，济南市留学回国人员创业计划基金，2004.01-2006.12，负责人

[18]“机器人社会行为及其演化规律研究“，国家自然基金项目，2011.01-2013.12，第二位

[19]“标准化鸡舍环境智能优化控制与养殖信息管理系统“，山东省科技厅攻关计划，2012.01-2014.12，第三位

[20]“仿生眼机构设计和感知关键技术研究“，山东大学自主创新基金“交叉学科培育基金”，2012.01-2014.12，第三位

[21]“高性能四足仿生机器人研发“，国家863计划主题项目，2011.01-2013.12，第四位

[22]“机器人社会行为及其演化规律研究“，国家自然基金项目，2011.01-2013.12，第二位

[23]“虚拟实验教学可视化设计关键技术研究“，山东省科技厅青年奖励基金项目，2009.12-2012.12，第二位

[24]“智能AWID/AWIS高速高机动机器人平台研制“，国家863计划项目，2007.09-2010.10，第四位

[25]“动态环境下移动机器人适应行为混沌预测方法研究“，国家自然基金项目，2007.01-2009.12，第二位

[26]“移动机器人智能体行为转换方法及映射研究“，教育部博士点基金，2006.01-2008.12，第二位

近五年代表性期刊论文：

[1] Zhi Li,Xin Ma*, Yibin Li*, Robust tracking control strategy for a quadrotor using RPD-SMC and RISE,Neurocomputing(SCI), vol. 331, p. 312-322, 2019.02.

[2] Zhimeng Zhang,Xin Ma*, Hanbo Wu, Yibin Li, Fall detection in videos with trajectory-weighted deep-convolutional rank-pooling descriptor,IEEE ACCESS(SCI), vol. 7, p. 4135-4144, 2019.01.

[3] Hanbo Wu,Xin Ma*, Yibin Li*, Hierarchical dynamic depth projected difference images based action recognition in videos with convolutional neural networks,International Journal of Advanced Robotic Systems(SCI),https://doi.org/10.1177/1729881418825093, 2019.01.

[4] Ke Huang,Xin Ma*, Rui Song, Xuewen Rong, Xincheng Tian, Yibin Li*, An autonomous developmental cognitive architecture based on incremental associative neural network with dynamic audiovisual fusion,IEEE ACCESS(SCI), vol. 7, p. 8789-8807, 2019.01.

[5] 李政源,马昕*,李贻斌.基于最优投影平面的立体视觉空间圆位姿高精度测量方法[J].模式识别与人工智能, vol. 32, no. 1, p.58-66, 2019.01.

[6] Xin Ma*, Junbing Feng, Yibin Li, Jindong Tan, Active 6D position-pose estimation of a spatial circle using monocular eye-in-hand system,International Journal of Advanced Robotic Systems(SCI), vol. 15, no. 1, 1729881417753692, 2018.01.

[7] Menghua Zhang,Xin Ma*, Xuewen Rong, Rui Song, Xincheng Tian, Yibin Li, A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint,Advances in Mechanical Engineering (SCI), vol. 10, no. 1, p. 1-13, 2018.01.

[8] Wenhui. Huang, Jason Gu*,Xin Ma*, and Yibin Li, Correlation-Filter Based Scale-Adaptive Visual Tracking with Hybrid-Scheme Sample Learning,IEEE ACCESS(SCI), vol. 6, p. 125-137, 2018.01.

[9] Menghua Zhang,Xin Ma*, Xuewen Rong, Rui Song, Xincheng Tian, Yibin Li, An enhanced coupling nonlinear tracking controller for underactuated 3D overhead crane systems,Asian Journal of Control(SCI), vol. 20, no. 5, p. 1839-1854, 2018.09.

[10] Zhiqiang Shen,Xin Ma*, Yibin Li, A hybrid 3D descriptor with global structural frames and local signatures of histograms,IEEE ACCESS(SCI), vol. 6, p. 39261-39272, 2018.07.

[11] Menghua Zhang,Xin Ma*, Rui Song, Xuewen Rong, Guohui Tian, Xincheng Tian, Yibin Li, Adaptive proportional-derivative sliding mode control law with improved transient performance for underactuated overhead crane systems,IEEE/CAA Journal of AUTOMATICA SINICA(ESCI), yol. 5, no. 3, p. 683-690, 2018.05.

[12] Zhi Li,Xin Ma*, and Yibin Li, Model-free control of a quadrotor using adaptive proportional derivative-sliding mode control and robust integral of the signum of the error,International Journal of Advanced Robotic Systems(SCI), 2018.10.03.https://doi.org/10.1177/1729881418800885

[13] Menghua Zhang,Xin Ma*, Xuewen Rong, Xincheng Tian, Yibin Li, Nonlinear coupling control method for underactuated three-dimensional overhead crane systems under initial input constraints. Transactions of the Institute of Measurement and Control (SCI), vol. 40, no. 2, p. 413–424.https://doi.org/10.1177/0142331216658949, 2018.02.

[14] Menghua Zhang,Xin Ma*, Xuewen Rong, Xincheng Tian, Yibin Li, Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles, Mechanical Systems and Signal Processing(SCI), 84: 268-285, 2017.02.

[15] Menghua Zhang,Xin Ma*, Xuewen Rong, Rui Song, Xincheng Tian, Yibin Li, A partially saturated adaptive learning controller for overhead cranes with payload hoisting/lowering and unknown parameters,Nonlinear Dynamics(SCI), 89(3): 1779-1791. 2017.08

[16] Wenhui Huang, Jason Gu*,Xin Ma*, Yibin Li, Self-paced model learning for robust visual tracking,Journal of Electronic Imaging(SCI), 26(1), 013016, 2017.01.

[17] Hanbo Wu,Xin Ma*, Zhimeng Zhang, Haibo Wang*, Yibin Li, Collecting public RGB-D datasets for human daily activity recognition,InternationalJournal of Advanced Robotic Systems(SCI). 14(4), 1729881417709079. 2017.07

[18] Lixia Deng,Xin Ma*, Jason Gu, Yibin Li, Dynamic k-coverage planning for multiple events with mobile robots,International Journal of Advanced Robotic Systems (SCI).14(3), 1729881417710792. 2017.05

[19] Menghua Zhang,Xin Ma*, Xuewen Rong, Rui Song, Xincheng Tian, Yibin Li, Modeling and energy-based fuzzy controlling for underactuated overhead cranes with load transferring, lowering and persistent external disturbances,Advances in Mechanical Engineering(SCI). 9(10), 1-13. Oct 2017.

[20] Menghua Zhang,Xin Ma* Hui Chai, Xuewen Rong, Xincheng Tian, and Yibin Li, A novel online motion planning method for double-pendulum overhead cranes,Nonlinear Dynamics(SCI, IF: 3.464, 2区), 85(2): 1079-1090, 2016.07.

[21] Lixia Deng,Xin Ma*, Jason Gu, Yibin Li, Zhigang Xu, and Yafang Wang. Artificial immune network-based multi-robot formation path planning with obstacle avoidance,International Journal of Robotics and Automation(SCI), 31(3): 233-242, 2016.06.

[22] Menghua Zhang,Xin Ma*, Xuewen Rong, Xincheng Tian, Yibin Li, Adaptive tracking control for double-pendulum overhead cranes subject to tracking error limitation, parametric uncertainties and external disturbances,Mechanical Systems and Signal Processing(SCI), 76: 15-32, 2016.08.

[23] Menghua Zhang,Xin Ma*, Bin Qin, Guangmao Wang, Yanan Guo, Zhigang Xu, Yafang Wang, and Yibin Li, Information fusion control with time delay for smooth pursuit eye movement,Physiological Reports, 4: e12775, 2016.05. DOI: 10.14814/phy2.12775.

[24] Wenhui Huang, Jason Gu*, andXin Ma*, Compressive sensing with weighted local classifier for robot visual tracking,International Journal of Robotics and Automation(SCI), 31(5): 416-427, 2016.05.

[25] 王晓慧，马昕*，秦斌，李贻斌，仿生眼注视转移运动控制策略研究，系统仿真学报，28(6): 1380-1385, 2016.06.

[26] Xin Ma*, Haibo Wang, Bingxia Xue, Mingang Zhou, Bing Ji, Yibin Li*, Depth-based Human Fall Detection via Shape Features and Improved Extreme Learning Machine,IEEE Journal of Biomedical and Health Informatics(SCI), vol. 18, no.6, p. 1915-1922, 2014.11.

[27] Bingxia Xue,Xin Ma*, Haibo Wang, Yibin Li, Improved variable-length particle swarm optimization for structure-adjustable extreme learning machine,Journal of Control and Intelligent Systems(EI), vol. 42. No. 4. p. 302-310, 2014.

[28] Lixia Deng,Xin Ma*, Jason Gu*, Yibin Li, Multi-robot dynamic formation path planning with improved polyclonal artificial immune algorithm,Journal of Control and Intelligent Systems(EI), vol. 42. No. 4. P. 284-291, 2014.

近五年部分会议论文：

[1] Zhiqiang Shen,Xin Ma*, Xianglei Zeng, Hybrid 3D surface description with global frames and local signatures of histograms, inProceedings of 24th International Conference on Pattern Recognition (ICPR), p. 1610-1615, Beijing, CHINA, August 20-24, 2018.

[2] Menghua Zhang,Xin Ma*, Rui Song, Xuewen Rong, Xincheng Tian, Guohui Tian, Yibin Li, Finite-time trajectory tracking control without payload-swing feedback for overhead crane systems subject to uncertain dynamics, inProceedings of IEEE 8thAnnual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER), July 19-23 2018, Tianjin CHINA.

[3] Xiawu Zeng, Menghua Zhang,Xin Ma*, Yibin Li, Design of a bionic eye experimental platform, inProceedings of 37th Chinese Control Conference (CCC), p. 138-142, Wuhan, CHINA, July 25-27, 2018.

[4] Mingyue Bi,Xin Ma*, Rui Song, Xuewen Rong, Yibin Li, Multi-view facial expression recognition based on fusing low-level and mid-level features, inProceedings of 37th Chinese Control Conference (CCC), p. 511-516, Wuhan, CHINA, July 25-27, 2018.

[5] Wenhui Huang, Jason Gu*,Xin Ma*, Yibin Li, Correlation filter-based self-paced object tracking, inProceedings of IEEE International Conference on Robotics and Automation (ICRA), p. 4437-4442, Singapore, May 29-June 3, 2017.

[6] Bin Liu,Menghua Zhang,Xin Ma, Rui Song, Xuewen Rong, Xincheng Tian, and Yibin Li*, Model independent PD-SMC method for bionic eye systems, inProceedings of the Chinese Automation Conference(CAC), p. 676-681, Jinan, China, Oct 20-22 2017.

[7] Fushuai Liu,Xin Ma*, Xue Li, Rui Song, Guohui Tian, and Yibin Li, Terrain recognition for outdoor mobile robots, in Proceedings of the Chinese Automation Conference (CAC), p. 4257-4262,Jinan, China, Oct 20-22 2017.

[8] Zhi Li,Xin Ma*, Rui Song, Xuewen Rong, Xincheng Tian, Guohui Tian, and Yibin Li, Quadrotor vertical taking off and landing control based on backstepping and non-singular terminal sliding mode, inProceedings of the Chinese Automation Conference(CAC), p. 3981-3986,Jinan, China, Oct 20-22 2017.

[9] Ke Huang,Xin Ma*, Guohui Tian, and Yibin Li, Autonomous cognitive developmental models of robots-A Survey, inProceedings of the Chinese Automation Conference(CAC), p. 2048-2053,Jinan, China, Oct 20-22 2017.

[10] Qianqian Li, Xiaojing Liu, Rui Song*, andXin Ma, An image-guiding system for orthognathic assisted robot based on three dimensional-digital imaging correlation: System establishment and accuracy evaluation, inProceedings of the Chinese Automation Conference(CAC), p. 90-94,Jinan, China, Oct 20-22 2017.

[11] Yanan Guo,Xin Ma*,Rui Song, Xuewen Rong, Xincheng Tian, Guohui Tian, and Yibin Li, Vergence eye movement with prediction and learning based on dual visual-local feedback, inProceedings of the Chinese Automation Conference (CAC), p. 2035-2040, Jinan, China, Oct 20-22 2017.

[12] Zhimeng Zhang,Xin Ma*,Rui Song,Xuewen Rong, Xincheng Tian, Guohui Tian, and Yibin Li, Deeplearning basedhuman actionrecognition: a survey, inProceedings of the Chinese Automation Conference (CAC), Jinan, China, 2017, p. 3780-3785, Jinan, China, Oct 20-22 2017.

[13] Zhi Li,Xin Ma*, Yibin Li, Chattering free sliding adaptive attitude control for quadrotor, in Proceedings of IEEE Chinese Guidance, Navigation and Control Conference (ICGNC), p. 707-712, Nanjing, Aug. 12-14, 2016.

[14] Xin Ma*, Haibo Wang, Bingxia Xue, Yibin Li, Spatial-temporal feature fusion for human fall detection, inProceedings of Chinese Conference on Computer Vision (CCCV), part I, Communications in Computer and Information Science (CCIS), vol. 546,p. 438-447, Xian, Sep. 18-20, 2015

[15] Menghua Zhang,Xin Ma*, Faqin Gao, Xincheng Tian, Yibin Li, A motion planning method for underactuated 3D overhead crane systems, inProceedings of the 34th Chinese Control Conference (CCC), p. 4286-4291, Hangzhou, July 28-30, 2015

[16] Wenhui Huang, Jason Gu, Xin Ma*, Visual tracking based on compressive sensing and particle filter,Proceedings of IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE), p.1435-1440, Halifax, Canada, 2015.

[17] Xin Ma*, Mingang Zhou, Jindong Tan, Yibin Li, Intelligent mobility assisted mobile sensor network localization,Proceedings of IEEE International Conference on Robotics and Automation (ICRA), p.1276-1281, Hongkong, 2014.

[18] Lubo Geng,Xin Ma*, Haibo Wang, Jason Gu, Yibin Li, Chinese sign language recognition with 3D hand motion trajectories and depth images,Proceedings of 11th World Congress on Intelligent Control and Automation(WCICA)，p.1457-1461, Shenyang, 2014.

[19] Faqin Gao,Xin Ma*, Jason Gu, Yibin Li, An active target localization with monocular vision,Proceedings of 11th IEEE International Conference on Control Automation (ICCA)，p.1381-1386, Taiwan, 2014.

[20] Lubo Geng,Xin Ma*, Bingxia Xue, Yibin Li, Combining Features for Chinese Sign Language Recognition with Kinect,Proceedings of 11th IEEE International Conference on Control & Automation (ICCA)，p.1393-1398, Taiwan, 2014.

获奖情况：

[1] 2007年，基于开放式结构的系列化教学机器人，山东省科技进步奖三等奖，第一位

[2] 2007年，基于开放式结构的系列化教学机器人，山东高等学校优秀科研成果三等奖，第一位

[3] 2000年，国防科技预研基金项目“多传感器惯性组合导航技术”，江苏省国防科技工业科学技术进步奖一等奖，第一位

软件著作权：

[1] 室外地形识别系统V1.0，登记号：2018SR279137，2018.4.24.

[2] 室内物体三维重建系统V1.0，登记号：2018SR279138，2018.4.24.

[3] 室内环境人体运动目标检测和跟踪平台V1.0，登记号：2018SR286455，2018.4.26.

[4] 人体行为识别系统V1.0，登记号：2018SR286519，2018.4.26.

[5] 人体跌倒检测系统V1.0，登记号：2018SR286449，2018.4.26.

[6] 人脸表情识别系统V1.0，登记号：2018SR388999，2018.5.28.

[7] 仿生眼头眼协调运动控制仿真平台，登记号：2013SR007693

[8] 多移动机器人环境建模仿真软件，登记号：2008SR16343

[9] 多移动机器人环境探索仿真软件，登记号：200816341

[10] 移动机器人环境建模仿真软件，登记号：2008SR16342

[11] 航材维修企业管理系统V1.0，登记号：2008SR15186

[12] 面向Internet的机器人教育软件平台，登记号：2008SR20008

[13] 基于Internet的移动机器人远程控制软件，登记号：2009SR054394