金山海 中国 Shanhai Jin 副教授硕士生导师

所在学科	机械设计及理论、计算机应用技术、计算机技术
研究方向	滑模变结构控制、柔性外骨骼助力机器人
目前就职	工学院
所在科室	机械设计制造及其自动化
主页地址	http://homepage.ybu.edu.cn/jinshanhai

基本信息

金山海, 男, 工学博士, 副教授.

IEEE会员, 中国自动化学会会员, 日本机器人学会会员.

教育经历

• 2010年04月 - 2013年03月, 日本 九州大学, 机械工学专业 (控制工学研究室), 博士课程 (受日本政府国费奖学金资助)

• 2009年10月 - 2010年03月, 日本 九州大学, 机械工学专业 (控制工学研究室), Research Student (受日本政府国费奖学金资助)

• 2008年10月 - 2009年08月, 东北师范大学, 中国赴日本国留学生预备学校, 博士预备班

• 2005年09月 - 2008年07月, 延边大学, 计算机应用技术专业, 硕士课程

• 2001年09月 - 2005年07月, 长春工业大学, 电子信息工程专业, 本科课程

工作经历

• 2015年07月 - 至今, 延边大学, 工学院 机械工程系

• 2013年04月 - 2015年03月, 日本 九州大学, 产学连携中心

荣誉奖项

• Advanced Robotics (SCI期刊) Best Paper Award (2013) for the paper “Real-Time Quadratic Sliding Mode Filter for Removing Noise,” Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto.

• 延边大学2017届本科生毕业论文（设计）优秀指导老师

• 2017第四届“创青春”吉林省青年创新创业大赛 金奖

• 2017吉林省高等学校机器人大赛 一等奖（冠军）

• 2018吉林省高等学校机器人大赛 寻迹机器人全地形机器人组 一等奖

• 2018吉林省高等学校机器人大赛 仿人机器人接力自制机器人组 二等奖

• 2018第八届全国大学生机械创新设计大赛吉林省赛区 一等奖

• 2018中国机器人大赛 武术擂台赛1vs1组 二等奖

• 2018中国机器人大赛 助老服务机器人组 二等奖

• 2019吉林省高校大学生机器人大赛 智慧农业组 一等奖

• 2019吉林省高校大学生机器人大赛 仿生机器人长跑比赛组 一等奖
  

• 2019吉林省高校大学生机器人大赛 助老环境与安全服务组 二等奖

• 2019吉林省高校大学生机器人大赛 武术擂台赛无差别1vs1组 三等奖

• 2019延边大学优秀共产党员荣誉称号

• 2019延边大学优秀教师荣誉称号

• 2019中国机器人大赛 立体仓库组 二等奖

• 2019中国机器人大赛 四足仿生机器人越野赛组 二等奖

Since 2018.02

研究领域

• 滑模变结构滤波器 (Sliding Mode Filter)

This research proposed a new sliding mode filter for effectively removing various noise. The filter employs a parabolic-shaped sliding surface, which is designed so that the output converges to the input value in finite-time when a constant input is provided, and thus it is referred to as parabolic sliding mode filter (PSMF). One of major advantages of PSMF is that it produces smaller phase lag than linear filters and a conventional parabolic sliding mode filter. The effectiveness of PSMF was validated through its application to a feedback, force control of a robot manipulator.

In addition, the research presented an Adaptive Windowing PSMF (AW-PSMF), which is an improved version of PSMF, for obtaining smooth and reliable differential signal. In AW-PSMF, the window size is adaptively changed to find a window size that optimizes the trade-off between the output smoothness and the suppression of delay in numerical differentiation. The effectiveness of AW-PSMF in improving velocity feedback for position control was experimentally confirmed.

(detailed information will be released soon)

• 穿戴型步行助力机器人 (Wearable Robotic Suit)

This research presented a new soft wearable robotic suit for energy-efficient walking in daily activities for elderly persons. The presented robotic suit provides a small yet effective assistive force for hip flexion through winding belts that include elastic elements. In addition, it does not restrict the range of movement in the lower limbs. Moreover, its structure is simple and lightweight, and thus wearers can easily take the device on and off by themselves. Experimental results on nine elderly subjects (age = 74.2 years) show that the robotic suit worn and powered on (PON) significantly reduced energy expenditure by an average of 5.9 % compared with the condition of worn but powered off (POFF). Furthermore, compared with the POFF condition, there was a significant improvement in gait characteristics in the PON condition for all subjects.

科研项目

• 2020年01月 - 2023年12月, 国家自然科学基金项目, 主持.

• 2019年01月 - 2020年12月, 吉林省产业技术研究与开发专项项目, 主持.
  

• 2018年01月 - 2019年12月, 吉林省科技发展计划项目, 主持.
  

• 2018年01月 - 2019年12月, 吉林省教育厅“十三五”科学技术项目, 主持.
  

• 2017年08月 - 2019年07月, 延边大学青年科研基金课题, 主持.
  

• 2017年01月 - 2018年12月, 延边大学教育科学规划课题, 主持.

• 2016年09月 - 2017年08月, 延边大学2016年度国家自然科学基金前期培育专项, 主持.
  

• 2013年04月 - 2015年03月, 日本科学技术振兴机构 (JST), Adaptable & Seamless Technology Transfer Program through Target-driven R&D, 軽量で柔軟な装着型歩行アシストスーツ に関する研究, No. AS2415010K1, 参与.
  

• 2012年04月 - 2013年03月, 日本学术振兴会 (JSPS), Grant-in-Aid for Scientific Research (B), 全身操縦型パワー拡大ロボットを可能にする各種力制御の微分包含式ベースト実装理論, No.243600981, 参与.
  

• 2010年04月 - 2012年03月, 日本学术振兴会 (JSPS), Grant-in-Aid for Young Scientists (B), 微分代数包含式近似に基づくスライディングモード制御の新実装理論, No. 22760321, 参与.
  

团队成员

讲授课程

讲授课程：

• C语言程序设计

• 电工学
  

• 电子技术

• 专业英语

• 控制工程基础

• 工程训练（控制部分）
  

研究领域相关课程：

• 自动控制原理

• 信号与系统

• 单片机原理

• 嵌入式系统
  

• 自动检测技术

• 数值分析

• 数字信号处理

• 模拟电子技术

• 数字电子技术

• 电机与拖动

• 系统仿真
  

• 运动控制
  

• 过程控制
  

• 工程力学(静力学，动力学)
  

• 工程制图
  

• 步态分析
  

• 运动生理学
  

• 表面肌电图技术
  

• 人体生理信号测量技术
  

招生信息

My Google Scholar Citations

期刊论文

• Zhengxiang Lv, Shanhai Jin, Xiaogang Xiong and Jingdong Yu "A New Quick-Response Sliding Mode Tracking Differentiator with its Chattering-Free Discrete-Time Implementation,"  IEEE Access, vol. 7, pp. 130236-130245, 2019.  (SCI, JCR 1区, IF: 4.098, WOS:000487541800007)
  

• Xiaogang Xiong, Shyam Kamal and Shanhai Jin, "Adaptive Gains to Super-Twisting Technique for Sliding Mode Design,"  Asian Journal of Control, 2019. doi: 10.1002/asjc.2202.  (SCI, JCR 3区, IF: 2.005, WOS:000483280000001)

• Shanhai Jin, Xiaogang Xiong, Dejin Zhao, Changfu Jin and Motoji Yamamoto, "Long-term effects of a soft robotic suit on gait characteristics in healthy elderly persons,"  Applied Sciences, vol. 9, no. 9, paper no. 1957, 2019. doi:10.3390/app9091957. (SCI, JCR 2区, IF: 2.217, WOS:000469756000236)

• Dong luo, Xiaogang Xiong, Shanhai Jin and Shyam Kamal , "Adaptive Gains of Dual Level to Super-Twisting Algorithm for Sliding Mode Design," IET Control Theory & Applications, vol. 12, no. 17, pp. 2347-2356, 2018. (SCI, JCR 1区, IF: 3.296, WOS:000450207500007)
  

• Shanhai Jin, Shijie Guo, Kazunobu Hashimoto, Xiaogang Xiong and Motoji Yamamoto, "Influence of a soft robotic suit on metabolic cost in long-distance level and inclined walking," Applied Bionics and Biomechanics, vol. 2018, article 9573951, 2018. (SCI, JCR 3区, IF: 1.769, WOS:000438923100001)
  

• Shanhai Jin, Xiaodan Wang, Yonggao Jin and Xiaogang Xiong, "Tuning Guidelines for an Adaptive-Gain Parabolic Sliding Mode Filter," Applied Sciences, vol. 7, no. 3, paper no. 209, 2017. doi:10.3390/app7030209. (SCI, JCR 3区, IF: 1.68, WOS: 000398718700002)
  

• Shanhai Jin, Xiaodan Wang, Yonggao Jin and Xiaogang Xiong, "Enhanced Discrete-time Sliding Mode Filter for Removing Noise," Mathematical Problems in Engineering, vol. 2017, article 3134987, 2017. (SCI, JCR 3区, IF: 0.80, WOS: 000401029400001) 
  

• Shanhai Jin, Yonggao Jin, Xiaodan Wang and Xiaogang Xiong, "Discrete-time Sliding Mode Filter with Adaptive Gain," Applied Sciences, vol. 5, no. 12, paper no. 400, 2016. doi:10.3390/app6120400. (SCI, JCR 3区, IF: 1.73, WOS: 000389533400025)

• Shanhai Jin, Noriyasu Iwamoto, Kazunobu Hashimoto and Motoji Yamamoto, "Experimental Evaluation of Energy Efficiency for a Soft Wearable Robotic Suit," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 25, no. 8, pp. 1192-1201, 2017. doi: 10.1109/TNSRE.2016.2613886. (SCI, JCR 1区, IF: 3.41, WOS: 000407478000012)

• Shanhai Jin, Changfu Jin, Xiaodan Wang and Yonggao Jin, "An IMU-Based Gait Detection for a Wearable Walking Assistive Device," International Journal of Modeling and Optimization, vol. 6, no. 5, pp. 268-271, 2016. (EI, Article number: 18312300)
  

• Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto, “Improving Velocity Feedback for Position Control by Using a Discrete-Time Sliding Mode Filtering with Adaptive Windowing,” Advanced Robotics, vol. 28, no.14, pp. 943-953, 2014. (SCI, JCR 4区, IF: 0.57, WOS: 000339063000003)

• Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto, “Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics,” Journal of Control Science and Engineering, vol. 2012, article 923679, 2012. (ESCI, EI, Article number: 20130515952453)

• Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto, “Real-time Quadratic Sliding Mode Filter for Removing Noise,” Advanced Robotics, vol. 26, no. 8-9, pp. 877-896, 2012. (SCI, JCR 4区, IF: 0.51, WOS: 000306740800004)

• 金永镐, 崔春淑, 金山海. 基于TL494的通用音频开关功率放大器设计. 电子工程师, 34(2): 32-34, 2008.

• 崔春淑, 金永镐, 金山海. 基于互补驱动方式的音频开关功率放大器设计. 延边大学学报自然科学版, 34(1): 58-61, 2008.

• 金山海, 郑春善, 孙立红. 基于开关调节音量的大功率报警器设计. 延边大学学报自然科学版,33(1): 63-66, 2007.

• 金永镐, 金山海. 基于电解电容降压的小容量直流稳压电源. 信息技术, 10: 65-67, 2006.
  

会议论文

• Xiaogang Xiong, Wei Chen, Guohua Jiao, Shanhai Jin and Shyam Kamal, "Implicit Euler Implementation of Continuous Terminal Sliding Mode Control",  2019 IEEE International Conference on Real-time Computing and Robotics. (Accepted)
  

• Dong Luo, Xiaogang Xiong, Shanhai Jin and Wei Chen, "Implicit Euler Implementation of Twisting Controller and Super-Twisting Observer without Numerical Chattering: Precise Quasi-Static MEMS Mirrors Control,"  In Proceedings of 2018 5rd International Conference on Mechatronics and Mechanical Engineering, paper no.03004, 2018. (EI, Article number: 20190606478275)

• Xiaogang Xiong, Shyam Kama, Kranthi Kumar Deveerasetty, Shanhai Jin and Yangjie Li, "Sliding Mode Control of Quasi-Static Micro Mirrors with Implicit-Euler Implementation," In Proceedings of 2018 IEEE International Conference on Real-time Computing and Robotics, pp. 463-468, 2018. (EI, Article number: 20191006606877)

• Shanhai Jin, Xiaodan Wang, Yonggao Jin and Xiaogang Xiong, "Parabolic Sliding Mode Filtering with Feed-Forward Compensation", In Proceedings of 15th International Conference on Control, Automation, Robotics and Vision, pp. 1799-1804, 2018.(EI, Article number: 20190506456451)

• Xiaodan Wang, Yonggao Jin, Xiaogang Xiong and Shanhai Jin, "A Discrete-time Sliding Mode Estimator with Adaptive Sliding Surface", In Proceedings of 2018 Chinese Automation Congress, pp. 2201-2205, 2018. (EI, Article number: 20191106632964)

• Shanhai Jin, Shijie Guo, Kazunobu Hashimoto, Xiaogang Xiong and Motoji Yamamoto, "A Soft Wearable Robotic Suit for Ankle and Hip Assistance: a Preliminary Study," In Proceedings of 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 1867-1870, 2018. (EI, Article number: 20184906171270)

• Shanhai Jin, Shijie Guo, Yonggao Jin, Xiaodan Wang and Xiaogang Xiong, "An Enhanced Hysteresis Filtering for Removing Impulsive Noise," In Proceedings of The 8th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, pp. 399-403, 2018.  (EI, Article number: 18599934)

• Shanhai Jin,  Xiaodan Wang, Yonggao Jin and Xiaogang Xiong, "Discrete-time Algorithms of a Parabolic Sliding Mode Filter: a Comparative Review," In Proceedings of 37th Chinese Control Conference, pp. 774-779, 2018. (EI, Article number: 20184606054833)

• Wenqin Chen, Xiaogang Xiong and Shanhai Jin, "Closed-Loop Control of MEMS Mirrors by Using Adaptive Sliding Mode Control and Observer," In Proceedings of the 17th International Manufacturing Conference. 
  

• Shanhai Jin, Shijie Guo , Kazunobu Hashimoto and Motoji Yamamoto, "Evaluation of Long-term Effect on Gait Improvement for a Soft Robotic Suit," In Proceedings of 2017 IEEE International Conference on Robotics and Biomimetics, pp. 1654-1658, 2017. (EI, Article number: 20182905568745)

• Shanhai Jin, Shijie Guo , Kazunobu Hashimoto and Motoji Yamamoto, "Influence of Maximum Assistive Force of a Soft Wearable Robotic Suit on Metabolic Cost Reduction," In Proceedings of the 8th IEEE International Conference on Cybernetics and Intelligent Systems and the 8th IEEE International Conference on Robotics, Automation and Mechatronics, pp. 146-150, 2017. (EI, Article number: 20182605383777)

• Ru Ma, Junqiang Li, Shanhai Jin, Hashimoto Kazunobu, Shijie Guo and Shijie Dai, "A Speed-independent Feedback Index for Walking Pattern Recognition for a Walking Assistive Robotic Suit," In Proceedings of the 8th IEEE International Conference on Cybernetics and Intelligent Systems and the 8th IEEE International Conference on Robotics, Automation and Mechatronics, pp. 514-517, 2017.(EI, Article number: 20182705397175)

• Shizhen Meng, Shanhai Jin, Junqiang Li, Shijie Guo, Hashimoto Kazunobu and Shijie Dai, "The Analysis of Human Walking Stability Using ZMP in Sagittal Plane," In Proceedings of the 8th IEEE International Conference on Cybernetics and Intelligent Systems and the 8th IEEE International Conference on Robotics, Automation and Mechatronics, pp. 496-501, 2017.  (EI, Article number: 20182605383200)

• Shanhai Jin, Shijie Guo , Kazunobu Hashimoto and Motoji Yamamoto, "Effects of a Soft Wearable Robotic Suit on Metabolic Cost and Gait Characteristics in Healthy Young Subjects," In Proceedings of the 17th International Conference on Control, Automation and Systems, pp. 680-684, 2017.  (EI, Article number: 20181304960997)

• Shanhai Jin, Xiaodan Wang, Yonggao Jin and Xiaogang Xiong, “Frequency Domain Analysis for an Adaptive Windowing Parabolic Sliding Mode Filter,”  In Proceedings of 2016 3rd International Conference on Mechatronics and Mechanical Engineering, paper no.14005, 2016. (EI, Article number: 20170803381048)

• Shanhai Jin, Kazunobu Hashimoto, Hiroshi Yamada and Motoji Yamamoto, “Energy Efficiency Evaluation for a Soft Wearable Robotic Suit,” In Proceedings of the 16th SICE System Integration Division Annual Conference, paper no. 2C1-3, 2015. (in Japanese)

• Shanhai Jin, Kazunobu Hashimoto, Hiroshi Yamada and Motoji Yamamoto, “Quantitative Evaluations of a Flexible-structured Wearable Walking-assist Device on Energy Expenditure and Gait Kinematics,” In Proceedings of the 33th Annual Conference of the Robotics Society of Japan, paper no. 1I1-03, 2015. (in Japanese)

• Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto, “Discrete-time Velocity Estimator Based on Sliding Mode and Adaptive Windowing,” In Proceedings of 2012 IEEE/SICE International Symposium on System Integration, pp. 835-841, 2012. (EI, Article number: 20130916065901)
  

• Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto, “Improving Velocity Feedback for Position Control by Using Sliding Mode Filtering with Adaptive Windowing,” In Proceedings of the 30th Annual Conference of the Robotics Society of Japan, paper no. 2F1-3, 2012. 

• Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto, “Improved Velocity Feedback for Position Control by Using a Quadratic Sliding Mode Filter,” In Proceedings of the 11th International Conference on Control, Automation and Systems, pp. 1207-1212, 2011. (EI, Article number: 20120614744112)
  

• Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto,  “A Realtime Quadratic Sliding Mode Filter for Removing Noise,” In Proceedings of 2011 Robotics and Mechatronics Conference of the Japan Society of Mechanical Engineers, paper no. 1P1-F03, 2011.

专利

• Device for Assisting Joint Exercise (日本专利); Inventor: Motoji Yamamoto, Shinichro Takasugi, Shanhai Jin, Haruo Nakashima, Hiroshi Yoshimine, Shohei Sato, Kazunobu Hashimoto and Takahiro Komatsu; Applicant: Kyushu University and Sumitomo Riko Company, Ltd.; No.: P2016-168191A (2016.09.23)

• Device for Assisting Joint Exercise (日本专利); Inventor: Motoji Yamamoto, Shinichro Takasugi, Shanhai Jin, Hiroshi Yoshimine, Takahiro Komatsu, Kazunobu Hashimoto and Shohei Sato; Applicant: Kyushu University and Tokai Rubber Industries, Ltd.; No.: P2016-049122A (2016.04.11)

• Device for Assisting Joint Exercise (PCT专利); Inventor: Motoji Yamamoto, Shinichro Takasugi, Shanhai Jin, Hiroshi Yoshimine, Takahiro Komatsu, Kazunobu Hashimoto and Shohei Sato; Applicant: Kyushu University and Sumitomo Riko Company, Ltd.; No.: WO 2016031376 A1 (2016.03.03)

• 一种三层离心式硬币清分机 (实用新型专利), 钟日钊, 金山海, 金昌福, 赵晨彤, 李兆飞, 谢宜宁, CN206833560U (2018.01.02)