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index.html
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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta name="format-detection" content="telephone=no">
<meta name='robots' content='max-image-preview:large' />
<link rel='dns-prefetch' href='//kit.fontawesome.com' />
<link rel='dns-prefetch' href='//unpkg.com' />
<link rel='dns-prefetch' href='//stats.wp.com' />
<link rel='dns-prefetch' href='//fonts.googleapis.com' />
<link rel='dns-prefetch' href='//i0.wp.com' />
<link rel='dns-prefetch' href='//c0.wp.com' />
<link rel='stylesheet' id='wp-block-library-css' href='css/style.min.css' media='all' />
<link rel='stylesheet' id='mediaelement-css' href='css/mediaelementplayer-legacy.min.css' media='all' />
<link rel='stylesheet' id='wp-mediaelement-css' href='css/wp-mediaelement.min.css' media='all' />
<style id='jetpack-sharing-buttons-style-inline-css'>
.jetpack-sharing-buttons__services-list {
display: flex;
flex-direction: row;
flex-wrap: wrap;
gap: 0;
list-style-type: none;
margin: 5px;
padding: 0
}
.jetpack-sharing-buttons__services-list.has-small-icon-size {
font-size: 12px
}
.jetpack-sharing-buttons__services-list.has-normal-icon-size {
font-size: 16px
}
.jetpack-sharing-buttons__services-list.has-large-icon-size {
font-size: 24px
}
.jetpack-sharing-buttons__services-list.has-huge-icon-size {
font-size: 36px
}
@media print {
.jetpack-sharing-buttons__services-list {
display: none !important
}
}
.editor-styles-wrapper .wp-block-jetpack-sharing-buttons {
gap: 0;
padding-inline-start: 0
}
ul.jetpack-sharing-buttons__services-list.has-background {
padding: 1.25em 2.375em
}
</style>
<style id='classic-theme-styles-inline-css'>
/*! This file is auto-generated */
.wp-block-button__link {
color: #fff;
background-color: #32373c;
border-radius: 9999px;
box-shadow: none;
text-decoration: none;
padding: calc(.667em + 2px) calc(1.333em + 2px);
font-size: 1.125em
}
.wp-block-file__button {
background: #32373c;
color: #fff;
text-decoration: none
}
</style>
<style id='global-styles-inline-css'>
:root {
--wp--preset--aspect-ratio--square: 1;
--wp--preset--aspect-ratio--4-3: 4/3;
--wp--preset--aspect-ratio--3-4: 3/4;
--wp--preset--aspect-ratio--3-2: 3/2;
--wp--preset--aspect-ratio--2-3: 2/3;
--wp--preset--aspect-ratio--16-9: 16/9;
--wp--preset--aspect-ratio--9-16: 9/16;
--wp--preset--color--black: #000000;
--wp--preset--color--cyan-bluish-gray: #abb8c3;
--wp--preset--color--white: #ffffff;
--wp--preset--color--pale-pink: #f78da7;
--wp--preset--color--vivid-red: #cf2e2e;
--wp--preset--color--luminous-vivid-orange: #ff6900;
--wp--preset--color--luminous-vivid-amber: #fcb900;
--wp--preset--color--light-green-cyan: #7bdcb5;
--wp--preset--color--vivid-green-cyan: #00d084;
--wp--preset--color--pale-cyan-blue: #8ed1fc;
--wp--preset--color--vivid-cyan-blue: #0693e3;
--wp--preset--color--vivid-purple: #9b51e0;
--wp--preset--gradient--vivid-cyan-blue-to-vivid-purple: linear-gradient(135deg, rgba(6, 147, 227, 1) 0%, rgb(155, 81, 224) 100%);
--wp--preset--gradient--light-green-cyan-to-vivid-green-cyan: linear-gradient(135deg, rgb(122, 220, 180) 0%, rgb(0, 208, 130) 100%);
--wp--preset--gradient--luminous-vivid-amber-to-luminous-vivid-orange: linear-gradient(135deg, rgba(252, 185, 0, 1) 0%, rgba(255, 105, 0, 1) 100%);
--wp--preset--gradient--luminous-vivid-orange-to-vivid-red: linear-gradient(135deg, rgba(255, 105, 0, 1) 0%, rgb(207, 46, 46) 100%);
--wp--preset--gradient--very-light-gray-to-cyan-bluish-gray: linear-gradient(135deg, rgb(238, 238, 238) 0%, rgb(169, 184, 195) 100%);
--wp--preset--gradient--cool-to-warm-spectrum: linear-gradient(135deg, rgb(74, 234, 220) 0%, rgb(151, 120, 209) 20%, rgb(207, 42, 186) 40%, rgb(238, 44, 130) 60%, rgb(251, 105, 98) 80%, rgb(254, 248, 76) 100%);
--wp--preset--gradient--blush-light-purple: linear-gradient(135deg, rgb(255, 206, 236) 0%, rgb(152, 150, 240) 100%);
--wp--preset--gradient--blush-bordeaux: linear-gradient(135deg, rgb(254, 205, 165) 0%, rgb(254, 45, 45) 50%, rgb(107, 0, 62) 100%);
--wp--preset--gradient--luminous-dusk: linear-gradient(135deg, rgb(255, 203, 112) 0%, rgb(199, 81, 192) 50%, rgb(65, 88, 208) 100%);
--wp--preset--gradient--pale-ocean: linear-gradient(135deg, rgb(255, 245, 203) 0%, rgb(182, 227, 212) 50%, rgb(51, 167, 181) 100%);
--wp--preset--gradient--electric-grass: linear-gradient(135deg, rgb(202, 248, 128) 0%, rgb(113, 206, 126) 100%);
--wp--preset--gradient--midnight: linear-gradient(135deg, rgb(2, 3, 129) 0%, rgb(40, 116, 252) 100%);
--wp--preset--font-size--small: 13px;
--wp--preset--font-size--medium: 20px;
--wp--preset--font-size--large: 36px;
--wp--preset--font-size--x-large: 42px;
--wp--preset--spacing--20: 0.44rem;
--wp--preset--spacing--30: 0.67rem;
--wp--preset--spacing--40: 1rem;
--wp--preset--spacing--50: 1.5rem;
--wp--preset--spacing--60: 2.25rem;
--wp--preset--spacing--70: 3.38rem;
--wp--preset--spacing--80: 5.06rem;
--wp--preset--shadow--natural: 6px 6px 9px rgba(0, 0, 0, 0.2);
--wp--preset--shadow--deep: 12px 12px 50px rgba(0, 0, 0, 0.4);
--wp--preset--shadow--sharp: 6px 6px 0px rgba(0, 0, 0, 0.2);
--wp--preset--shadow--outlined: 6px 6px 0px -3px rgba(255, 255, 255, 1), 6px 6px rgba(0, 0, 0, 1);
--wp--preset--shadow--crisp: 6px 6px 0px rgba(0, 0, 0, 1);
}
:where(.is-layout-flex) {
gap: 0.5em;
}
:where(.is-layout-grid) {
gap: 0.5em;
}
body .is-layout-flex {
display: flex;
}
.is-layout-flex {
flex-wrap: wrap;
align-items: center;
}
.is-layout-flex> :is(*, div) {
margin: 0;
}
body .is-layout-grid {
display: grid;
}
.is-layout-grid> :is(*, div) {
margin: 0;
}
:where(.wp-block-columns.is-layout-flex) {
gap: 2em;
}
:where(.wp-block-columns.is-layout-grid) {
gap: 2em;
}
:where(.wp-block-post-template.is-layout-flex) {
gap: 1.25em;
}
:where(.wp-block-post-template.is-layout-grid) {
gap: 1.25em;
}
.has-black-color {
color: var(--wp--preset--color--black) !important;
}
.has-cyan-bluish-gray-color {
color: var(--wp--preset--color--cyan-bluish-gray) !important;
}
.has-white-color {
color: var(--wp--preset--color--white) !important;
}
.has-pale-pink-color {
color: var(--wp--preset--color--pale-pink) !important;
}
.has-vivid-red-color {
color: var(--wp--preset--color--vivid-red) !important;
}
.has-luminous-vivid-orange-color {
color: var(--wp--preset--color--luminous-vivid-orange) !important;
}
.has-luminous-vivid-amber-color {
color: var(--wp--preset--color--luminous-vivid-amber) !important;
}
.has-light-green-cyan-color {
color: var(--wp--preset--color--light-green-cyan) !important;
}
.has-vivid-green-cyan-color {
color: var(--wp--preset--color--vivid-green-cyan) !important;
}
.has-pale-cyan-blue-color {
color: var(--wp--preset--color--pale-cyan-blue) !important;
}
.has-vivid-cyan-blue-color {
color: var(--wp--preset--color--vivid-cyan-blue) !important;
}
.has-vivid-purple-color {
color: var(--wp--preset--color--vivid-purple) !important;
}
.has-black-background-color {
background-color: var(--wp--preset--color--black) !important;
}
.has-cyan-bluish-gray-background-color {
background-color: var(--wp--preset--color--cyan-bluish-gray) !important;
}
.has-white-background-color {
background-color: var(--wp--preset--color--white) !important;
}
.has-pale-pink-background-color {
background-color: var(--wp--preset--color--pale-pink) !important;
}
.has-vivid-red-background-color {
background-color: var(--wp--preset--color--vivid-red) !important;
}
.has-luminous-vivid-orange-background-color {
background-color: var(--wp--preset--color--luminous-vivid-orange) !important;
}
.has-luminous-vivid-amber-background-color {
background-color: var(--wp--preset--color--luminous-vivid-amber) !important;
}
.has-light-green-cyan-background-color {
background-color: var(--wp--preset--color--light-green-cyan) !important;
}
.has-vivid-green-cyan-background-color {
background-color: var(--wp--preset--color--vivid-green-cyan) !important;
}
.has-pale-cyan-blue-background-color {
background-color: var(--wp--preset--color--pale-cyan-blue) !important;
}
.has-vivid-cyan-blue-background-color {
background-color: var(--wp--preset--color--vivid-cyan-blue) !important;
}
.has-vivid-purple-background-color {
background-color: var(--wp--preset--color--vivid-purple) !important;
}
.has-black-border-color {
border-color: var(--wp--preset--color--black) !important;
}
.has-cyan-bluish-gray-border-color {
border-color: var(--wp--preset--color--cyan-bluish-gray) !important;
}
.has-white-border-color {
border-color: var(--wp--preset--color--white) !important;
}
.has-pale-pink-border-color {
border-color: var(--wp--preset--color--pale-pink) !important;
}
.has-vivid-red-border-color {
border-color: var(--wp--preset--color--vivid-red) !important;
}
.has-luminous-vivid-orange-border-color {
border-color: var(--wp--preset--color--luminous-vivid-orange) !important;
}
.has-luminous-vivid-amber-border-color {
border-color: var(--wp--preset--color--luminous-vivid-amber) !important;
}
.has-light-green-cyan-border-color {
border-color: var(--wp--preset--color--light-green-cyan) !important;
}
.has-vivid-green-cyan-border-color {
border-color: var(--wp--preset--color--vivid-green-cyan) !important;
}
.has-pale-cyan-blue-border-color {
border-color: var(--wp--preset--color--pale-cyan-blue) !important;
}
.has-vivid-cyan-blue-border-color {
border-color: var(--wp--preset--color--vivid-cyan-blue) !important;
}
.has-vivid-purple-border-color {
border-color: var(--wp--preset--color--vivid-purple) !important;
}
.has-vivid-cyan-blue-to-vivid-purple-gradient-background {
background: var(--wp--preset--gradient--vivid-cyan-blue-to-vivid-purple) !important;
}
.has-light-green-cyan-to-vivid-green-cyan-gradient-background {
background: var(--wp--preset--gradient--light-green-cyan-to-vivid-green-cyan) !important;
}
.has-luminous-vivid-amber-to-luminous-vivid-orange-gradient-background {
background: var(--wp--preset--gradient--luminous-vivid-amber-to-luminous-vivid-orange) !important;
}
.has-luminous-vivid-orange-to-vivid-red-gradient-background {
background: var(--wp--preset--gradient--luminous-vivid-orange-to-vivid-red) !important;
}
.has-very-light-gray-to-cyan-bluish-gray-gradient-background {
background: var(--wp--preset--gradient--very-light-gray-to-cyan-bluish-gray) !important;
}
.has-cool-to-warm-spectrum-gradient-background {
background: var(--wp--preset--gradient--cool-to-warm-spectrum) !important;
}
.has-blush-light-purple-gradient-background {
background: var(--wp--preset--gradient--blush-light-purple) !important;
}
.has-blush-bordeaux-gradient-background {
background: var(--wp--preset--gradient--blush-bordeaux) !important;
}
.has-luminous-dusk-gradient-background {
background: var(--wp--preset--gradient--luminous-dusk) !important;
}
.has-pale-ocean-gradient-background {
background: var(--wp--preset--gradient--pale-ocean) !important;
}
.has-electric-grass-gradient-background {
background: var(--wp--preset--gradient--electric-grass) !important;
}
.has-midnight-gradient-background {
background: var(--wp--preset--gradient--midnight) !important;
}
.has-small-font-size {
font-size: var(--wp--preset--font-size--small) !important;
}
.has-medium-font-size {
font-size: var(--wp--preset--font-size--medium) !important;
}
.has-large-font-size {
font-size: var(--wp--preset--font-size--large) !important;
}
.has-x-large-font-size {
font-size: var(--wp--preset--font-size--x-large) !important;
}
:where(.wp-block-post-template.is-layout-flex) {
gap: 1.25em;
}
:where(.wp-block-post-template.is-layout-grid) {
gap: 1.25em;
}
:where(.wp-block-columns.is-layout-flex) {
gap: 2em;
}
:where(.wp-block-columns.is-layout-grid) {
gap: 2em;
}
:root :where(.wp-block-pullquote) {
font-size: 1.5em;
line-height: 1.6;
}
</style>
<link rel='stylesheet' id='google-fonts-css'
href='https://fonts.googleapis.com/css?family=Montserrat%3A900%7CRaleway&display=swap&ver=20200108'
media='all' />
<link rel='stylesheet' id='flickity-styles-css' href='css/flickity.min.css' media='screen' />
<link rel='stylesheet' id='_themename-icon-styles-css' href='css/chronusq-icon.css' media='all' />
<link rel='stylesheet' id='_themename-styles-css' href='css/style.css' media='all' />
<script src="js/jquery/jquery.min.js" id="jquery-core-js"></script>
<script src="js/jquery/jquery-migrate.min.js" id="jquery-migrate-js"></script>
<link rel="https://api.w.org/" href="https://uwligroup.org/wp-json/" />
<link rel="alternate" title="JSON" type="application/json" href="https://uwligroup.org/wp-json/wp/v2/pages/87" />
<link rel="alternate" title="oEmbed (JSON)" type="application/json+oembed"
href="https://uwligroup.org/wp-json/oembed/1.0/embed?url=https%3A%2F%2Fuwligroup.org%2F" />
<link rel="alternate" title="oEmbed (XML)" type="text/xml+oembed"
href="https://uwligroup.org/wp-json/oembed/1.0/embed?url=https%3A%2F%2Fuwligroup.org%2F&format=xml" />
<style>
img#wpstats {
display: none
}
</style>
<link rel="icon"
href="https://i0.wp.com/uwligroup.org/wp-content/uploads/2020/04/cropped-favicon.png?fit=32%2C32&ssl=1"
sizes="32x32" />
<link rel="icon"
href="https://i0.wp.com/uwligroup.org/wp-content/uploads/2020/04/cropped-favicon.png?fit=192%2C192&ssl=1"
sizes="192x192" />
<link rel="apple-touch-icon"
href="https://i0.wp.com/uwligroup.org/wp-content/uploads/2020/04/cropped-favicon.png?fit=180%2C180&ssl=1" />
<meta name="msapplication-TileImage"
content="https://i0.wp.com/uwligroup.org/wp-content/uploads/2020/04/cropped-favicon.png?fit=270%2C270&ssl=1" />
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<div class="highlight-title"> 研 究 方 向</div>
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<h2 class="slide-header">AI+ 机器人实验室简介</h2>
<h3>
1. 智能机器人<br>
机器人系统开发，激光、视觉SLAM，基于AI的视觉抓取，冗余机械臂避障规划<br>
2. 智能巡检系统<br>
基于AI的故障分类，缺陷提取，刻度估计，图像处理，国产硬软件框架实现<br>
3. 无人飞行器<br>
无人飞行器动力学建模和系统辨识、制导和控制算法、轨迹优化、容错控制、流-固-热耦合建模，伺服弹性控制<br>
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style="background-image:radial-gradient(ellipse closest-side, rgb(15 14 22 / 0%), #9f9f9f00), url('images/index/SLAM.png')">
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<h2 class="slide-header">激光与视觉SLAM</h2>
<h3>基于滤波思想设计了基于无迹卡尔曼滤波(UKF)的激光/视觉双定位系统融合算法，弥补了单一定位系统的不足，进一步基于位姿图优化思想，设计了激光SLAM、视觉SLAM和IMU预积分器的混合融合算法,提高系统定位精度。 </h3>
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<div class="slide-content">
<h2 class="slide-header">移动机器人避障</h2>
<h3>提出了移动机器人在未知环境下实时避障的几何规划方法。该方法将障碍物建模为有向闭环矩形，并建立障碍物的相对方位kd树以快速查找避障所需障碍物，设计了避障速度与目标速度矢量合成得到指令跟踪速度算法。几何方法机理明确，路径可重复，避障安全性高。</h3>
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<h2 class="slide-header">冗余机械臂避障算法研究</h2>
<h3>采用几何推导法设计了基于末端跟随算法的运动控制策略，避免使用复杂的逆运动学进行求解，实现了机械臂末端的精确位置跟踪，提出了一种基于贝赛尔曲线的避障路径规划策略，以碰撞条件和关节角度极值为约束，以控制点位置为优化变量，通过粒子群优化算法调整贝塞尔曲线控制点得到可行的避障路径。 </h3>
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<div class="slide-content">
<h2 class="slide-header">移动机械臂视觉抓取</h2>
<h3>虚拟环境下训练集制作、目标点云分割和深度点云匹配、抓取位姿网络训练、抓取稳定性判断，视觉抓取。</h3>
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<h2 class="slide-header">支吊架智能巡检系统</h2>
<h3>为提升管道支吊架巡检效率和质量，开发支吊架智能巡检算法，结合巡检终端和服务器搭建国产化支吊架智能巡检系统，实现管道支吊架的智能巡检。
</h3>
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style="background-image:radial-gradient(ellipse closest-side, rgb(15 14 22 / 0%), #9f9f9f00), url('images/index/airship1.png')">
</div>
<div class="slide-content">
<h2 class="slide-header">高空飞艇总体设计</h2>
<h3>
专注于提升高低空柔性飞艇的总体设计能力，主要涵盖模态分析、气动特性研究和推进系统优化三个方面。建立结构动力学相似准则，预测飞艇在不同尺度和不同工况下的运动模态。仿真分析飞艇流-固-热耦合作用机理，建立精确的流-固-热耦合气动力模型。采用动网格技术实现矢量螺旋桨实时运动仿真，建立多螺旋桨伺服弹性推力模型，项目旨在多维度提升柔性飞艇的设计能力。
</h3>
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style="background-image:radial-gradient(ellipse closest-side, rgb(15 14 22 / 0%), #9f9f9f00), url('images/index/control.png')">
</div>
<div class="slide-content">
<h2 class="slide-header">柔性飞艇伺服弹性主动抑制研究</h2>
<h3>
柔性飞艇的运动和振动问题涉及复杂的非线性行为。通过流固耦合动力学建模和动力配置，采用多矢量螺旋桨和气动舵面冗余配置实现运动控制中的伺服弹性抑制，提高飞行的稳定性，为其在高、低空等领域的应用提供技术支撑。
</h3>
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<a href="https://uwligroup.org/congratulations-to-dr-josh-goings/">Congratulations to Dr. Joshua
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<time class="mini-article-date">April 12, 2021</time>
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<a href="https://uwligroup.org/congratulations-to-dr-shichao-sun/">Congratulations to Dr. Shichao
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<time class="mini-article-date">June 2, 2020</time>
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<a href="https://uwligroup.org/torin-stetina-wins-molssi-seed-fellowship/">Torin Stetina wins MolSSI
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<time class="mini-article-date">June 2, 2020</time>
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<a
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<a href="https://uwligroup.org/undergraduate-ethan-vo-in-new-uw-promo-video/">Undergraduate Ethan Vo
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<time class="mini-article-date">November 14, 2019</time>
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<a
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Sun wins Alma Mater Travel Award for the 2019-2020 academic year</a>
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<time class="mini-article-date">October 22, 2019</time>
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