基本信息

姓名：苑晶
性别：男
所属部门：自动化与智能科学系
行政职务：
职称：教授
学历：博士
所学专业：控制理论与控制工程
办公电话：
电子邮件：nkyuanjing@gmail.com
研究方向：机器人控制、移动机器人导航、SLAM、多机器人系统、目标跟踪




个人简介
1998.9-2002.7 南开大学 自动化系 自动控制专业 本科
2002.9-2007.7 南开大学 控制理论与控制工程专业 博士
2007.7至今 南开大学自动化系 教师
2015.9-2016.8 美国乔治亚大学 访问****


欢迎踏实、勤勉的保研同学(硕士/博士，尤其是直博生)、考研同学与我联系。




科研项目、成果、获奖、专利
主持：
1、“以RGB-D图像序列为单位的移动机器人场景识别与环境建图”， 国家自然科学基金面上项目，2016.01-2019.12。
2、“基于运动模式在线学习的移动机器人对运动目标的主动观测与最优跟踪”，国家自然科学基金面上项目，2012.01-2015.12。
3、“未知环境下基于多传感信息融合的多机器人协作主动探索与建图”，国家自然科学基金青年基金项目，2009.01-2011.12。
4、“基于移动机器人主动探索的未知环境的地图创建”，教育部博士点基金新教师基金项目，2009.01-2011.12。
5、“室内环境下基于WiFi无线信号场的移动机器人定位与导航”，天津市自然科学基金面上项目， 2015.04-2018.03。
6、“基于多传感信息融合的移动机器人运动目标识别与跟踪”，天津市自然科学基金面上项目，2010.04-2013.03。
7、“面向机场智能服务的移动机器人环境建图与导航”，中国民航信息技术科研基地开放基金项目，2015.09-2017.08。

参加：
1、“野外环境中基于自适应学习的移动机器人地形分类与建图”，国家自然科学基金面上项目，2012.01-2015.12。
2、“机器人模块化单元技术”，国家863计划项目，2012.01-2014.12。
3、“未知环境下移动机器人主动探索与建图”，国家863计划项目，2006.01-2008.12。
4、“未知环境下基于陆标动态配置的移动机器人主动同时定位与地图创建”，国家自然科学基金青年基金项目，2007.01-2009.12。
5、“基于等效尺寸的带拖车移动机器人的运动规划”，国家自然科学基金项目，2002.01-2004.12.

专利：
1、苑晶，刘章臣，刘艳霞，一种具有全方位测距功能的移动平台及其测距方法，发明专利，2017。
2、苑晶，黄枢子，陈欢，孙凤池，黄亚楼，郑杰，一种面向运动目标追踪的视觉系统及其控制方法，发明专利，2014。
3、苑晶，黄亚楼，吴晓琳，陶通，孙凤池，未知环境下通讯距离受限的多机器人协作探索与建图方法，发明专利，2013。





撰写论文、专著、教材等
期刊论文：
[1] Jing Yuan, Jingxin Cai, Xuebo Zhang, Qinxuan Sun, Fengchi Sun, and Wenbin Zhu, “Fusing skeleton recognition with face-TLD for human following of mobile service robots,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019, DOI:10.1109/TSMC.2019.**.
[2] Haiming Gao, Xuebo Zhang, Jing Yuan, Jianchao Song, and Yongchun Fang, “A novel global localization approach based on structural unit encoding and multiple hypothesis tracking,” IEEE Transactions on Instrumentation and Measurement, 2019, DOI: 10.1109/TIM.2018.**.
[3] Xuebo Zhang, Jiarui Wang, Yongchun Fang, and Jing Yuan, “Multilevel human like motion planning for mobile robots in complex indoor environments,” IEEE Transactions on Automation Science and Engineering, 2018, DOI: 10.1109/TASE.2018.**.
[4] Haiming Gao, Xuebo Zhang, Jian Wen, Jing Yuan, and Yongchun Fang, “Autonomous indoor exploration via polygon map construction and graph-based SLAM using directional endpoint features,” IEEE Transactions on Automation Science and Engineering, 2018, DOI: 10.1109/TASE.2018. **.
[5] Jing Yuan, Shengming Zhang, Qinxuan Sun, Gangdun Liu, and Jingxin Cai, “Laser-based intersection-aware human following with a mobile robot in indoor environments”, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2018, DOI: 10.1109/TSMC.2018.**.
[6] Jing Yuan, Shaokun Yang and Jingxin Cai, "Consistent path planning for on-axle-hitching multi-steering trailer systems," IEEE Transactions on Industrial Electronics, 2018, 65(12): 9625-9634..
[7] Qinxuan Sun, Jing Yuan*, Xuebo Zhang and Fengchi Sun, "RGB-D SLAM in indoor environments with STING-based plane feature extraction," IEEE/ASME Transactions on Mechatronics, 2018, 23(3): 1071-1082.
[8] Jing Yuan, "Hierarchical motion planning for multisteering tractor-trailer mobile robots with on-axle hitching," IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1652-1662.
[9] Jing Yuan, Fengchi Sun and Yalou Huang, "Trajectory generation and tracking control for double-steering tractor-trailer mobile robots with on-axle hitching," IEEE Transactions on Industrial Electronics, 2015, 62 (12): 7665-7677.
[10] Jing Yuan, Huan Chen, Fengchi Sun and Yalou Huang, "Multisensor information fusion for people tracking with a mobile robot: a particle filtering approach," IEEE Transactions on Instrumentation and Measurement, 2015, 64(9): 2427-2744.
[11] Jing Yuan, Xiang Li, Jinhe Zhang, Liao Luo, Qinglin Dong, Jinglei Lv, Yu Zhao, Xi Jiang, Shu Zhang, Wei Zhang and Tianming Liu, "Spatio-temporal modeling of connectome-scale brain network interactions via time-evolving graphs", NeuroImage, 2018, 180: 350-369.
[12] Jing Yuan, Jinhe Zhang, Song Ding and Xingliang Dong, "Cooperative localization for disconnected sensor networks and a mobile robot in friendly environments", Information Fusion, 2017, 37: 22-36.
[13] Jing Yuan, Huan Chen, Fengchi Sun and Yalou Huang, "Trajectory planning and tracking control for autonomous bicycle robot", Nonlinear Dynamics, 2014, 78: 421-431.
[14] Jing Yuan, Yalou Huang, Fengchi Sun and Tong Tao, "Active exploration using a scheme for autonomous allocation of landmarks," Robotica, 2014, 32(5): 757-782.
[15] Jing Yuan, Fengchi Sun and Yalou Huang, "Optimal design of trajectory parameters and position tracking with balance for riderless bicycle," Optimal Control Applications and Methods, 2016, 37(1): 72-89.
[16] Jing Yuan and Yalou Huang, "Active and stable SLAM based on multi-objective optimization", International Journal of Robotics and Automation, 2011, 26(3): 313-322.
[17] Haiming Gao, Xuebo Zhang, Yongchun Fang and Jing Yuan, "A line segment extraction algorithm using laser data based on seeded region growing," International Journal of Advanced Robotic Systems, 2018, DOI: 10.1177/**55245.
[18] 苑晶, 黄亚楼, 孙凤池, "多转向驱动拖挂式移动机器人镇定控制", 自动化学报, 2011, 37(4): 471-479.
[19] 苑晶, 刘钢墩, 孙沁璇, "激光与单目视觉融合的移动机器人运动目标跟踪," 控制理论与应用, 2016, 33(2): 196-204.
[20] 苑晶, 黄亚楼, 孙凤池, "基于陆标动态配置的移动机器人主动探索", 控制理论与应用, 2009, 26(4): 433-438.
[21] 苑晶,黄亚楼, 孙凤池, "两种连接形式的拖挂式移动机器人路径跟踪控制", 控制理论与应用, 2008, 25(3): 398-406.
[22] 苑晶, 黄亚楼, 孙凤池, "带拖车移动机器人全局路径跟踪控制", 控制与决策, 2007, 22 (10): 1119-1124.
[23] 董星亮, 苑晶*, 黄枢子, 杨少坤, 张雪波, 孙凤池, 黄亚楼. "室内环境下基于平面与线段特征的RGB-D视觉里程计", 机器人, 2019, 41(1): 83-94.
[24] 董星亮, 苑晶*, 张雪波, 黄亚楼. "室内环境下基于图像序列拓扑关系的移动机器人全局定位", 机器人, 2018, 40(6): 921-932.
[25] 苑晶, 黄亚楼, 陶通, 习白羽, "基于局部子地图方法的多机器人主动同时定位与地图创建", 机器人, 2009, 31(2): 97-103.
[26] 苑晶, 黄亚楼, 康叶伟, 刘作军, 孙凤池, "带拖车轮式移动机器人包络路径的分析与量化", 机器人, 2003, 25 (3): 222-226.
[27] 苑晶, 李阳, 董星亮, 黄亚楼, "基于运动模式在线分类的移动机器人目标跟踪", 仪器仪表学报, 2017, 38(3): 568-577.
[28] 苑晶, 黄亚楼, 孙凤池, "面向移动机器人自定位的无线网络构造算法及实现", 仪器仪表学报, 2011, 32(1): 99-106.


会议论文(部分)：
[1] Jing Yuan, Yalou Huang, Fengchi Sun and Tong Tao, "Active exploration using scheme of autonomous distribution for landmarks," IEEE International Conference on Robotics and Automation, 2009, Kobe, Japan, pp.4169-4174.
[2] Jing Yuan, Yalou Huang, Tong Tao and Fengchi Sun,"A cooperative approach for multi-robot area exploration," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp.1390-1395.
[3] Jing Yuan, Yalou Huang, Fengchi Sun and Yewei Kang, "Optimization design for connection relation of tractor-trailer mobile robot with variable structure," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, Beijing, China, pp. 4971-4976.
[4] Jing Yuan and Yalou Huang, "Path following control for tractor-trailer mobile robot with two kinds of connection structures," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, Beijing, China, pp. 2533-2538.
[5] Jing Yuan, Jinhe Zhang and Song Ding, "Pseudospectral motion planning for autonomous bicycles," IEEE International Conference on Advanced Intelligent Mechatronics, 2015, Busan, Korea, pp.482-487.
[6] Jing Yuan, Yalou Huang and Fengchi Sun, "EKF-based active simultaneous localization and mapping (SLAM) using multi-objective optimization," International Symposium on Robotics, 2009, Soul, Korea, pp.620-625.
[7] Jing Yuan, Yalou Huang, Yewei Kang and Zuojun Liu, "A strategy of path following control for multi-steering tractor-trailer mobile robot," IEEE International Conference on Robotics and Biomimetics, 2004, Shenyang, China, pp.129-134.

指导研究生发表论文：
[1] Song Ding, Gangdun Liu, Yang Li, Jinhe Zhang, Jing Yuan and Fengchi Sun, "SLAM and moving target tracking based on constrained local submap filter," IEEE International Conference on Information and Automation, Lijiang, China, 2015, pp. 831-836.
[2] 陈欢, 苑晶, 丁松, 孙凤池, "基于多阶段伪普法的多移动机器人协同运动规划," 中国控制会议, 2014, 南京, 中国, pp. 8265-8270.
[3] 黄枢子, 苑晶, 陈欢, "基于三维骨架模型的人体动作划分与匹配," 中国控制会议, 2013, 西安, 中国, pp. 5877-5882.
[4] 吴晓琳, 苑晶, 孙凤池, 陈欢, 黄枢子, "一种多机器人协作SLAM方法," 中国控制会议, 2012, 合肥, 中国, pp. 4904-4909.
[5] 赵昆, 孙凤池, 苑晶, "一种基于视觉特征的自主目标跟踪算法," 中国控制会议, 2012, 合肥, 中国, pp. 4936-4941.
[6] 陶通, 黄亚楼, 苑晶, 孙凤池, "基于协助校正方法的多机器人主动同时定位与建图," 模式识别与人工智能, 2012, 25(3): 534-543.
[7] 吴晓琳, 宋萌, 苑晶, 孙凤池, 陶通, "通讯范围受限条件下的多机器人主动SLAM," 系统工程与电子技术, 2012, 34(10): 2121-2128.
[8] 郭瑞, 孙凤池, 苑晶, 黄亚楼, "一种基于几何统计特征的全局扫描匹配方法," 模式识别与人工智能, 2011, 24(3): 314-320.
[9] Tong Tao, Yalou Huang, Jing Yuan, Fengchi Sun and Xiaolin Wu, "Cooperative simultaneous localization and mapping for multi-robot: approach & experimental validation," World Congress on Intelligent Control and Automation, 2010, Jinan, China, pp. 2888-2893.
[10] 孟崇, 涂锦辉, 周楹君, 申辉, 苑晶, "基于RFID的室内智能导航系统," 南开大学学报, 2010, 43(6): 87-93.
[11] 武涛, 孙凤池, 苑晶, "一种基于线段特征的室内环境主动SLAM方法,"机器人, 2009, 31(2): 166-170.
[12] Rui Guo, Fengchi Suan and Jing Yuan, "ICP based on polar point matching with application to Graph-SLAM," IEEE International Conference on Mechatronics and Automation, 2009, Changchun, China, pp.1122-1127.
[13] Tong Tao, Yalou Huang, Jing Yuan and Fengchi Sun, "Multi-robot map building in unknown environment using cooperative correction," International Symposium on Robotics, 2008, Soul, Korea, pp. 626-631.
[14] Tong Tao, Yalou Huang, Jing Yuan and Fengchi Sun, "Multi-robot cooperative map building in unknown environment considering estimation uncertainty," Chinese Control and Decision Conference, 2008, Yantai, China, pp. 2812-2817.
[15] Tao Wu, Fengchi Sun and Jing Yuan, "An approach to adaptive map building of mobile robots in unknown environment," World Congress on Intelligent Control and Automation, 2008, Chongqing, China, pp. 9379- 9384.
[16] Yang Liu, Fengchi Sun, Tong Tao, Jing Yuan and Yalou Huang, "A solution to active simultaneous localization and mapping problem based on optimal control," IEEE International Conference on Mechatronics and Automation, 2007,Harbin, China, pp.314-319.



讲授课程
本科《计算机控制系统与技术》、《自动化与智能科学概论》
硕士《建模与辨识》



社会兼职
IEEE Member
天津市机器人学会理事
Reviewer：IEEE/ASME Trans. on Mechatronics, IEEE Trans. on Cybernetics, IEEE Trans. on Intelligent Transportation Systems, IEEE Trans. on Vehicular Technology, IEEE Trans. on Instrumentation and Measurements, Control Engineering Practice, Information Fusion, IET Control Theory & Applications, Nonlinear Dynamics, Robotics and Autonomous Systems, Journal of Intelligent & Robotic Systems, 自动化学报, 控制理论与应用, 机器人, CDC, ACC等